Elevated Height Wheelchair

ABSTRACT

Embodiments of the present disclosure include a wheelchair configured to reposition an occupant between a lowered and a raised position. The wheelchair can include a frame, a seat moveable relative to the frame, a drive wheel, and one or more pairs of arm assemblies. The arm assembly includes a wheel configured to move from a first spatial location when the wheel chair is operating on flat, level ground to a second spatial location that is different than the first spatial location. Arm limiters can selectively engage the arm assembly based on at least one of a seat position, position of the arm assembly and surface conditions of ground surface. The arm limiters can limit the range of motion of the arm assembly and sometimes other operational aspects of the chair.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.14/572,559, filed Dec. 16, 2014, which claims the benefit of andpriority to U.S. Provisional Application No. 61/916,500, filed Dec. 16,2013, and U.S. Provisional Application No. 61/938,880, filed Feb. 12,2014. The entire contents of each application listed in this paragraphare incorporated by reference into this application for all purposes.

TECHNICAL FIELD

The present application relates to a wheelchair, and in particular to apower wheelchair configured to operate at least in an elevated modewhere an occupant is elevated.

BACKGROUND

Wheelchairs are an important means of transportation for a significantportion of society. Whether manually propelled or powered, wheelchairsprovide an important degree of independence for those they assist.However, this degree of independence can be limited if the wheelchair isrequired to traverse obstacles such as, for example, curbs that arecommonly present at sidewalks and other paved surface interfaces, anddoor thresholds. Accordingly, power wheelchairs have been the subject ofincreasing development efforts to provide handicapped and disabledpersons with independent mobility to assist them in leading even morenormal and active lives.

To aid in climbing curbs, some power wheelchairs typically have a pairof forward extending anti-tip assemblies that are rotatably coupled tothe wheelchair frame. The arm members of the anti-tip assemblies arerotatably coupled to the wheelchair frame such that when the wheelchairencounters a curb, the anti-tip assemblies will pivot upwardly tothereby allow the wheelchair to traverse the curb. Some powerwheelchairs also have elevatable seats that permit the occupant to moveat “eye-level” with persons walking with them. Wheelchairs operatingwith seats at elevated positions are susceptible to instability undercertain conditions.

SUMMARY

Embodiments of the present disclosure include a wheelchair configured toreposition an occupant between a lowered and a raised position. Thewheelchair can include a frame, a seat moveable relative to the frame, adrive wheel, and one or more pairs of arm assemblies. The arm assemblyincludes a wheel configured to move from a first spatial location whenthe wheel chair is operating on flat, level ground, to a second spatiallocation that is different than the first spatial location. Arm limiterscan selectively engage the arm assembly dependent on at least one of aseat position, position of the arm assembly, and surface conditions ofground surface. The arm limiters can limit the range of motion of thearm assembly and sometimes other operational aspects of the chair.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing summary, as well as the following detailed description ofexample embodiments of the application, will be better understood whenread in conjunction with the appended drawings, in which there is shownin the drawings example embodiments for the purposes of illustration. Itshould be understood, however, that the application is not limited tothe precise systems and methods shown. In the drawings:

FIG. 1 is a top perspective view of a powered wheelchair in accordancewith an embodiment of the present disclosure;

FIG. 2A is a side elevation view of the powered wheelchair shown in FIG.1, with a portion of the seat removed and illustrating the seat in araised position;

FIG. 2B is a side elevation view of the powered wheelchair shown in FIG.2A, showing the seat in the lowered position;

FIG. 3A is a side elevation view of the powered wheelchair shown in FIG.2B, with a drive wheel removed to illustrate a forward arm assembly andan arm limiter according to an embodiment of the present disclosure;

FIG. 3B is a rear perspective of a portion of the powered wheelchairshown in FIG. 3A;

FIG. 4A is a side elevation view of a portion of the powered wheelchairshown in FIG. 3A, illustrating the arm limiter in the lockedconfiguration;

FIG. 4B is a side elevation view of a portion of the powered wheelchairshown in FIG. 3A, illustrating the arm limiter in an open configuration;

FIG. 4C is a side elevation view of a portion of the powered wheelchairshown in FIG. 3A, illustrating the arm limiter that is blocked fromtransitioning into the locked configuration as the powered wheelchairtraverses an obstacle;

FIG. 5 is a block diagram illustrating a control system for operatingthe powered wheelchair illustrated in FIGS. 1 through 4C, according toan embodiment of the present disclosure;

FIGS. 6A and 6B are process flow diagrams illustrating operation ofpowered wheelchair in standard operating mode and an elevated motionmode (a portion of the diagram is shown in FIG. 6A and another portionof the diagram is shown in FIG. 6B);

FIG. 7 is a perspective view of an arm limiter assembly for the poweredwheelchair according to another embodiment of an aspect of the presentdisclosure;

FIGS. 8A-8D are sides views of rotatable members according toalternative embodiments of aspects of the present disclosure;

FIG. 9A is a side elevation view of a powered wheelchair according toanother embodiment of an aspect of the present disclosure, illustratingthe arm limiter shown FIG. 7;

FIG. 9B is a side elevation view of a portion of the powered wheelchairshown in FIG. 9A, illustrating the front wheel ascending an obstacle;

FIG. 10A is a side elevation view of a powered wheelchair according toanother embodiment of an aspect of the present disclosure, illustratingthe arm limiter in the locked configuration;

FIG. 10B is a side elevation view of a portion of the powered wheelchairshown in FIG. 10A, illustrating the arm limiter in an openconfiguration;

FIG. 10C is a side elevation view of a portion of the powered wheelchairshown in FIG. 10A, illustrating the arm limiter being inhibited fromtransitioning into the locked configuration as the powered wheelchairascends an obstacle;

FIG. 11A is a schematic side elevation view of a powered wheelchairaccording to another embodiment of an aspect of the present disclosure,illustrating an arm limiter in the locked configuration;

FIG. 11B is an end view of the arm limiter illustrated in FIG. 11A;

FIG. 12A is a schematic side elevation view of a powered wheelchairaccording to another embodiment of the present disclosure, illustratingthe arm limiter in the locked configuration;

FIG. 12B is a side elevation view of a portion of the powered wheelchairshown in FIG. 12A, illustrating the arm limiter in an open configurationwith a portion thereof retracted;

FIG. 12C is a side elevation view of a portion of the powered wheelchairshown in FIG. 12A, illustrating the arm limiter being inhibited fromtransitioning into the locked configuration as the powered wheelchairascends an obstacle;

FIG. 13A is a schematic side elevation view of a portion of a poweredwheelchair according to another embodiment of the present disclosure,illustrating a rear arm assembly and a rear arm limiter assembly in anopen configuration;

FIG. 13B is a side elevation view of a portion of the powered wheelchairshown in FIG. 13A, illustrating the rear arm limiter assembly beinginhibited from transitioning into the locked configuration as thepowered wheelchair descends an obstacle;

FIG. 14A is a schematic side elevation view of a portion of the poweredwheelchair, illustrating the arm assembly on flat, level ground and anarm limiter assembly in an open configuration; and

FIG. 14B is a side elevation view a portion of the powered wheelchairshown in FIG. 14A, illustrating the arm assembly translated upwardly asthe powered wheelchair ascends an obstacle.

FIG. 15A is a schematic side elevation view of a portion of a poweredwheelchair according to another embodiment of an aspect of the presentdisclosure, illustrating an arm limiter assembly in an openconfiguration;

FIG. 15B is a side elevation view a portion of the powered wheelchairshown in FIG. 15A, illustrating the arm assembly ascending an obstacleand the arm limiter in a locked configuration;

FIG. 15C is a side elevation view a portion of the powered wheelchairshown in FIG. 15A, illustrating the arm attempting to ascend an obstacleand with arm limiter in another locked configuration;

FIG. 16A is a schematic side elevation view of a portion of a poweredwheelchair according to another embodiment of an aspect of the presentdisclosure, illustrating the arm limiter in the locked configuration;

FIG. 16B is a side elevation view a portion of the powered wheelchairshown in FIG. 15A, illustrating the arm assembly translated upwardly asthe powered wheelchair ascends an obstacle;

FIG. 17 is a top perspective view of a powered wheelchair in accordancewith an embodiment of the present disclosure;

FIG. 18A is a side elevation view of the powered wheelchair shown inFIG. 17, illustrating a seat in a raised position;

FIG. 18B is a side elevation view of the powered wheelchair shown inFIG. 18A, showing the seat in a lowered position;

FIGS. 18C and 18D are schematic side and top views of an anti-tip arm ofthe wheelchair illustrated in FIGS. 17-18B;

FIG. 19 is a partial side perspective view of the powered wheelchairshown in FIGS. 18A-18B, with the drive wheel removed to illustrate alinkage assembly and an arm limiter assembly according to an embodimentof the present disclosure;

FIG. 20 is a partial side perspective view of the powered wheelchairshown in FIG. 3, showing the linkage assembly retracted and the armlimiter assembly in a locking configuration;

FIGS. 21 and 22 are schematic top views of the powered wheelchairillustrated in FIGS. 17-20 with the seat removed and illustrating thelinkage assembly causing transition of the arm limiter assembly from thelocked configuration into the open configuration, respectively;

FIG. 23 is a side view of the crank of the arm limiter assemblyillustrated in FIGS. 17-20;

FIG. 24 is a side schematic view a portion of the powered wheelchairshown in FIG. 17, illustrating an open configuration of the arm limiterassembly and the linkage assembly when the seat is in a lowered positionand the wheelchair is operating on flat, level ground;

FIG. 25 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 24, illustrating the locking configuration ofthe arm limiter assembly when the seat is in a raised position and thewheelchair is operating on flat, level ground;

FIG. 26 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 24, illustrating the locking configuration whenthe seat is in a raised position when the seat is in a raised positionand the wheelchair is encountering an obstacle;

FIGS. 27 and 28 are schematic side views of the portion of the poweredwheelchair shown in FIG. 24, illustrating the arm limiter assemblyprevented from transitioning into the locked configuration when the seatis in a raised position and the wheelchair is encountering an obstacle;

FIG. 29 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 24, illustrating the linkage assembly engagedand the arm limiter assembly in the locking configuration as the seat islowered from a raised position to a lowered positioned while thewheelchair is encountering an obstacle;

FIG. 30 is a side elevation view of the powered wheelchair according toanother embodiment of the present disclosure, with a portion of the seatremoved and illustrating the seat in a lowered position, a linkageassembly and arm limiter assembly;

FIG. 31 is a side elevation view of the powered wheelchair shown in FIG.30, with a portion of the seat removed and illustrating the seat in araised position;

FIGS. 32A and 32B are side views of a portion of the powered wheelchairillustrated in FIGS. 30-31, illustrating a lift mechanism according toanother embodiment of the present disclosure showing raised and loweredposition, respectively;

FIG. 33 is a perspective view of an actuator of the linkage assemblyshown in FIGS. 30-32B;

FIGS. 34A and 34B are schematic side and top views, respectively, of thepowered wheelchair illustrated in FIGS. 30-33, illustrating the linkageassembly and with the seat in a lowered position;

FIGS. 34C and 34D are schematic side and top views, respectively, of aportion of the linkage assembly shown in FIGS. 34A and 34B, illustratingengagement between the linkage assembly and the seat in a raisedposition;

FIG. 35 is a side schematic view a portion of the powered wheelchairshown in FIGS. 30 and 31, illustrating an open configuration of the armlimiter assembly and the linkage assembly when the seat is in a loweredposition and the wheelchair is operating on flat, level ground;

FIG. 36 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 24, illustrating the locking configuration ofthe arm limiter assembly when the seat is in a raised position and thewheelchair is operating on flat, level ground;

FIG. 37 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 24, illustrating the locking configuration whenthe seat is in a raised position when the seat is in a raised positionand the wheelchair is encountering an obstacle;

FIG. 38 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 24, illustrating the arm limiter assemblyprevented from transitioning into the locked configuration when the seatis in a raised position and the wheelchair is encountering an obstacle;

FIG. 39 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 24, illustrating the linkage assembly engagedand the arm limiter assembly in the locking configuration as the seat islowered from a raised position to a lowered positioned while thewheelchair is encountering an obstacle;

FIG. 40 is a side schematic view a portion of a powered wheelchairaccording to another embodiment, illustrating an open configuration ofthe arm limiter assembly and the linkage assembly when the seat is in alowered position and the wheelchair is operating on flat, level ground;

FIG. 41 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 40, illustrating the locking configuration ofthe arm limiter assembly when the seat is in a raised position and thewheelchair is operating on flat, level ground;

FIG. 42 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 40, illustrating the locking configuration whenthe seat is in a raised position when the seat is in a raised positionand the wheelchair is encountering an obstacle;

FIG. 43 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 40, illustrating the arm limiter assemblyprevented from transitioning into the locked configuration when the seatis in a raised position and the wheelchair is encountering an obstacle;

FIG. 44 is a schematic side view of the portion of the poweredwheelchair shown in FIG. 40, illustrating the linkage assembly engagedand the arm limiter assembly in the locking configuration as the seat islowered from a raised position to a lowered positioned while thewheelchair is encountering an obstacle;

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

Embodiments of the present disclosure include wheelchairs configured toelevate a seated occupant and operate the wheelchair in a safe, stablecondition dependent on the occupant position, ground surface features,and/or one more or more wheelchair operational parameters. Referring toFIGS. 1-2B, an embodiment of the present disclosure includes awheelchair 10 configured to elevate a seat 22 between a conventionallowered position and a raised position that allows an occupant tooperate the wheelchair 10 with the seat at the raised position, which insome circumstances can be at a conversational height with others who arestanding or walking along with the wheelchair 10. The wheelchair 10 maybe a powered wheelchair. In some embodiments, wheelchair 10 isconfigured to selectively limit certain operational aspects when, forexample, the wheelchair 10 is in the process of traversing an obstacle,is on un-level ground, and/or when the seat is raised. Likewise, thewheelchair 10 may prevent the raising of the seat when the wheelchair isclimbing an obstacle or is on unlevel ground. An “obstacle” as the termis used herein includes any relatively raised or lowered structure onthe ground surface G that the wheel must ascend or descend to crossover. Operating a wheelchair when the seat is in the raised position cancreate instability, especially when climbing curbs or transitioning to adescent when appropriate safety features are not deployed. For instance,when the seat is in the fully raised position, the center of gravity ofthe occupied wheelchair is elevated and/or shifted forward or rearward(depending, for example, on the lift mechanism associated with thechair). The risk of tipping can increase on an incline and overallwheelchair stability can be compromised, especially when traversing orattempting to traverse an obstacle. The wheelchair 10 as describedherein improves stability when the seat 22 is in the raised positionsuch as when the individual is at a conversational height with someonewho is standing. As a result of improved stability chair travellingspeeds can be increased. Increased traveling speeds may include walkingspeeds, jogging speeds or running speeds. Conversational height as usedherein refers to when the occupant is elevated above the ground surfaceG to make communication with others (e.g., average height adult males orfemales) standing or walking next to wheelchair easier. For example,conversational height could be “eye-level.”

The powered wheelchair 10 includes a frame 14, a pair of drive wheels 32coupled to the frame 14 and driven by at least one drive motor 34 (FIG.2A). A pair of anti-tip arm assemblies 38 may extend from the frame 14in a forward direction F relative to the drive wheels 32. A pair of reararm assemblies 48 may extend from the frame 14 in a rearward direction Rthat is opposite to the forward direction F. As used herein theforward-rearward direction F-R may refer the horizontal direction whenthe wheelchair is operating on flat, level ground. In accordance withthe illustrated embodiment, the wheelchair 10 is a mid-wheel drive powerwheelchair and includes front wheels 46 and rear wheels 49 disposed inthe forward and rearward directions F and R relative to the drive wheels32, respectively. The drive motor 34 causes the drive wheels 32 torotate about the drive wheel axis A2 to advance the wheelchair along thesurface G. The front wheel 46 is rotatable about the front wheel axis A1and the rear wheel 47 is rotatable about the rear wheel axis A3. Thepresent disclosure, however, is not limited to mid-wheel powered wheelchairs.

The powered wheelchair 10 may also includes a lift mechanism 18 mountedto the frame 14 with the seat 22 supported by the lift mechanism 18. Thelift mechanism 18 is configured to, in response to inputs an occupantapplies to an input device 8, move the seat 22 between a loweredposition 5L (FIGS. 1 and 2B) and a raised position 5R (FIG. 2A)generally along a vertical direction V that is perpendicular the forwardand rearward directions F and R. While a scissor-type lift mechanismthat is actuated by a lead screw mechanism is illustrated and describedbelow, any type of lift mechanism may be employed. Further, thewheelchair can be configured to move the seat into the raised positionand tilt the seat base and seat back relative to each other in theraised position. In an embodiment, the wheelchair can include a lift andtilt mechanism, such as the lift and tilt mechanism disclosed in U.S.Patent App. Pub. No. 2014/0262566, entitled “Lift Mechanism And TiltMechanism For A Power Wheelchair,” incorporated by reference herein inits entirety.

The powered wheel chair 10 also includes one or more arm limiterassemblies 60, shown for example in FIG. 3A, coupled the frame 14 andconfigured to selectively engage the anti-tip assemblies 38 so as toinhibit relative motion between the anti-tip assemblies 38 and frame 14in certain instances during operation of the wheelchair 10. Preventingrelative motion between anti-tip assemblies 38 and the frame 14 canlimit certain operations of the wheelchair 10 in order to improvestability and occupant safety. The arm limiter assemblies 60 transitionbetween a first or disengaged configuration and a second or lockedconfiguration where operation of the anti-tip assemblies 38 are limited.Further, operation of arm limiter assemblies 60 may be limited,inhibited, impaired or delayed when the wheelchair is traversing anobstacle. For instance, the arm limiter assemblies 60 may not transitioninto a locked configuration if the anti-tip assemblies are alreadyattempting to traverse an obstacle, as will be further discussed below.For just one instance, operation of the lift mechanism 18 can be limitedso that the seat cannot be moved to the raised position when thewheelchair is climbing an obstacle or descending along an incline. Thewheelchair 10 is configured to safely operate in a mode whereby the seat22 of the wheelchair 10 is raised to a raised position at theconversational height with walking companions and the wheelchair 10 iscapable of safely advancing along the surface G, for instance a normalspeed, such as normal walking speed.

The power wheelchairwheelchair 10 has different operational modes, suchas a standard mode and one or more elevated motion modes. In someembodiments, a control system 90 (FIG. 5) includes a controller 92configured to operate the wheelchair 10 in the different operationalmodes, an input device 8 in electronic communication with the controller92, and a plurality of sensors 96 a-96 c in electronic communicationwith the controller 92. The controller 92 is responsive to inputs fromthe input device 8 and one or more of the sensors 96 a-96 c in order tocause the powered wheelchair 10 to operate at least in (i) a standardmode when the seat 22 is in the lowered position such that thewheelchair is moveable along the surface G in accordance with standarddrive parameters (that is, conventional parameters that are not limitedfor elevated seat operation), and (ii) one or more elevated motion modeswhereby the seat is in the raised position and drive parameters arelimited to some extent. The elevated motion modes may include A) a firstor normal elevated motion mode where the wheelchair is capable operatingaccording to a first set of limited drive parameters, and B) a secondelevated motion mode (sometimes referred to as an elevated-inhibitedmode) whereby the wheelchair 10 is capable of operating according to asecond set of limited drive parameters that have limits that aretypically less than upper limits of the first set of limited driveparameters. The phrase “drive parameters” as used herein (whether instandard or elevated modes) include at least a speed (miles/hr),acceleration, and deceleration of the wheelchair. In some embodiments,the drive parameters include directional components, such as forwardspeed, reverse speed, and turn speed, forward acceleration, forwarddeceleration, reverse acceleration, and reverse deceleration. Forbrevity and ease of illustration, the standard and elevated modes beloware described with reference to the speed of the wheelchair. However, itshould be appreciated that the ranges and limits discussed below withrespect to speed are applicable to the other drive parameters such asturn speed, acceleration, and deceleration described above.

In accordance with the illustrated embodiment, the standard mode is whenthe seat 22 is in the lowered position such that the wheelchair ismoveable along the surface G at typical wheelchair speeds. The firstelevated motion mode can be when the wheelchair is capable of moving ata first speed range, up to a maximum raised-seat drive speed, which isless than the typical wheelchair speeds. The second elevated motion mode(or an elevated-inhibited mode) is when the wheelchair 10 is capable ofmoving at a second elevated mode speed range, up to a maximumraised-inhibited drive speed that is less than the upper limit of thefirst speed range.

In the standard mode the wheelchair can move at a standard orlowered-seat drive speed range that is typical of conventionalwheelchairs, such as between 0.0 mph and about 10.0 mph. Accordingly, itshould be appreciated that the fully lowered-seat drive speed can havean upper limit that is anywhere in the conventional range of between apractical minimum (or at rest at 0 mph) and, for example, 10.0 mph asindicated. Furthermore, it should be appreciated that when thewheelchair is operating in the standard mode, the wheelchair 10 can beconfigured to move at any speed as desired and is not limited to a speedthat is between the practical minimum and 10.0 mph. The poweredwheelchair 10 would typically be in the standard mode (that is, with theseat in the fully-lowered position) when the wheelchair is traversingobstacles O (FIG. 4C) such as a curb. The term “standard mode” includesa mode that has no speed restrictions by the controller that are relatedto seat position.

When in the elevated motion modes, the wheelchair 10 can be configuredto move at a speed that has a limit that is less than the standard modedrive speed upper limit. In the elevated motion modes, the powerwheelchair preferably is capable of moving at a walking speed (orperhaps faster) while seat 22 is in the raised position such that theoccupant is at the conversational height with a person walking next thepowered wheelchair. In an exemplary embodiment, when in the normalelevated motion mode, the first speed range is between a practicalminimum and 5.0 mph, preferably between the practical minimum and 3.75mph. That is, the wheelchair 10 can be configured to move at a maximumraised-seat drive speed that is no more than 5.0 mph, preferably no morethan 3.75 mph. It should be appreciated that the raised-seat drive speedcan have an upper limit that is anywhere between first speed range ofthe practical minimum to 5.0 mph. Furthermore, when the wheelchair 10 isoperating in the normal elevated motion mode, there may be circumstancesin which the upper limit may be set higher than 5.0 mph. The term“practical minimum” speed as used herein means that the lower limit ofthe range is chosen according to the parameters understood by personsfamiliar with wheelchair structure and function, and may be close tozero mph under some conditions.

In an instance in which wheelchair 10 is operating in the elevatedmotion mode, and at least one safety criteria is not met, the controllerwill cause the wheelchair 10 to operate in some mode other than thefirst, normal elevated motion mode. For example, the controller maycause the wheelchair 10 to operate in the second elevated motion mode orelevated inhibited mode at least until all of the safety criteria aremet. For example, in some embodiments, if the seat 22 is in the raisedposition and one of the safety criteria is not met, the controller willallow the wheelchair 10 to move within the second, elevated-inhibitedspeed range, up to the reduced maximum raised-inhibited speed that isless then maximum raised-seat drive speed. The maximum raised-inhibiteddrive speed can be a speed that is no more than 3.0 mph, preferably nomore than 1.5 mph. It should be appreciated, however, that theraised-inhibited drive speed can have any upper limit as desired so longas it is less than an upper limit of the first, normal speed range.

Accordingly, in order for the wheelchair 10 to operate in the elevatedmotion modes, certain safety criteria should be satisfied as will bediscussed further below. The sensors 96 a-96 c can collectively detectinformation indicative of when the wheelchair 10 is in a position tosafely operate in the elevated motion modes. If the sensors 96 a-96 cdetect a condition that indicates that it is not safe to operate thewheelchair in the elevated motion mode, the controller 92 will operatethe wheelchair 10 in some other mode such as the elevated inhibited modeor standard mode (that is, by requiring the seat to be in the lowermostposition). In certain instances, for example, the wheelchair 10 will notoperate in the elevated motion modes, i.e., the seat 22 will not moveinto the raised position if the seat 22 is initially in the loweredposition and the wheelchair 10 is ascending an obstacle or descendingdown an incline.

Turning to FIGS. 2A-2B, the frame 14 supports the drive wheels 32,anti-tip assemblies 38, rear assemblies 48, the lift mechanism 18 andseat 22. As illustrated, the frame 14 includes a front end 14 f, a rearend 14 r spaced from the front end 14 f in a forward direction F, abottom 15 b, and a top 15 t spaced from the bottom 15 b in the verticaldirection V. The frame 14 further supports one or more batteries 36 aand 36 b, the drive motors 34, and various control modules that are usedto operate the powered wheelchair.

The lift mechanism 18, in some embodiments, includes left and right ofscissor assemblies 16 operatively connected to frame 14, a lift motor20, and a lift control system (which preferably is integrated with thecontroller described herein) that can be used to impart a lifting forceand rate by which the seat 22 moves from the lowered position to theraised position. One scissor assembly will be described below for easeof illustration. The other scissor assembly is constructed similarly.The scissor assembly 16 includes first and second scissor bars 17 and 19that extend between the seat 22 and the frame 14 and are rotatablycoupled to each other. The first scissor bar 17 has an upper end 17 ufixed to the seat 22 and a lower end 17 l that is moveably coupled tothe top 15 t of the frame 14. For instance, the lower end 17 l can bemovably coupled to a support rack 14 s attached to or extendingmonolithically from the top 15 t of the frame 14. The second scissor bar19 includes an upper end 19 u that is moveably coupled to the seat 22.As illustrated, the upper end 19 u extends partly into an elongate slot21 defined in the seat frame 23 a. The lower end 191 of the scissor bar19 is fixed to the frame 14, for instance to the support rack 14 s.

The motor 20 is operatively coupled to the lower end 17 l of the scissorbar 17 and is configured to cause the lower end 17 l to translate alongthe frame 14 in the forward and rearward directions F and R. The liftmotor 20 is operatively coupled to a drive actuator, such as a threadedshaft, that is connected to the lower end 17 l of the scissor bar 17.For instance, a threaded nut (not shown) is fixed, directly orindirectly, to the lower end 17 l and the drive screw extends throughthe threaded nut. Operation of the motor turns the drive screw in thedrive nut, which causes translation of the lower end 17 l to advancealong the drive screw depending on rotational direction of the drivescrew. In operation, when the seat is raised, the lower end 17 l of thescissor bar 17 is disposed toward the central region of the frame 14 andwhen the seat 22 is in the lowered position, the lower end 17 l of thescissor bar 17 is has translated closer to the rear end 14 r of theframe 14. As the lower end 17 l translates along the frame 14, the upperend 19 u of the second scissor bar 19 translates along the elongatedslot 21 of the seat 22 as the seat 22 is lowered toward the frame 14.The seat 22 is a seat assembly that includes a base, a seat back (baseand seat back not numbered or shown in FIGS. 2A and 2B), seat frame 23 athat supports the base. The seat frame 23 a defines a seat bottom 23 bthat faces the frame 14. The distance D extends from the top 15 t of theframe 14 to the bottom 23 b of the seat 22 along a vertical direction V.The distance D increases as the seat 22 is moved from the loweredposition 5L to the raised position 5R, and decreases the seat 22 ismoved from the raised position 5R to the lowered position 5L. The liftmechanism illustrated is exemplary only. And it should be appreciatedthat the lift mechanism is not limited to scissor-type mechanisms or theuse of screw-type actuators as described above.

Turning to FIGS. 3A and 3B, as noted above, the wheelchair 10 includes apair of anti-tip arm assemblies 38. For ease of illustration only oneanti-tip arm assembly 38 will be described below. The other anti-tipassembly 38 in the pair preferably has the same structure but orientedon the opposite hand. The anti-tip arm assembly is also referred to inthis disclosure as an arm assembly 38. The arm assembly 38 includes anarm member 42 moveably coupled to the frame 14, a front wheel 46 coupledto the arm member 42, and at least one stop member 44 a disposed alongthe arm member 42. In the illustrated embodiment, the arm member 42includes an arm body 43 a that defines an arm proximal end 43 p and anarm distal end 43 d spaced from the arm proximal end 43 p along an armbody axis 45. The arm member body 43 a is curved along the arm axis 45such that distal end 43 d is spaced a greater vertical distance from thesurface G compared to the vertical distance that the proximal end 43 pis spaced from the surface G. The curved arm body 43 a providesclearance for the wheel assembly. It should be appreciated that the armmember body 43 a could be linear along the arm axis 45 in otherembodiments. The distal end 43 d of the arm member 42 includes a distalhousing 43 n that receives an assembly to carries the front wheel 46.The proximal end 43 p defines a proximal housing 43 m that holds and/ordefines a connector (not numbered) that is coupled to the frame 14. Thearm member body 43 a can be any structure, such as an elongate tube,bar, rod or plate and may or may not have uniform or substantiallyuniform cross section between proximal end 43 p and distal end 43 d. Asillustrated, the arm member body 43 a is tubular and is exemplary only.In other embodiments, the arm member body 43 a can be or may include abar or plate with a substantially rectilinear cross-sectionperpendicular the arm axis 45. In still other embodiments, the armmember 42 that can be formed of multiple components that are connectedtogether with fasteners or welds, or pivotally attached together,without limitation. In other embodiments, the arm member body can be amonolithic structure, such as a cast or extruded material.

The front wheel 46 is coupled to the distal end 43 d and is rotatableabout the front wheel axis A1. As illustrated, the front wheel 46 is incontact with ground or surface G during normal operation. The distal end43 d of arm member includes a caster assembly (not numbered) supportedby the distal housing. The caster assembly rotatably couples the frontwheel 46 to the arm member 42 such that wheel 46 is rotatable about anaxis (not shown) that is normal to the ground surface G andperpendicular the wheel axis A1. It should be appreciated, however, thatin some embodiments, the front wheel 46 can be an anti-tip wheel that israised or otherwise spaced from the ground or surface G during normaloperation in a configuration that does not include a caster. The term“anti-tip” wheel as used herein encompasses caster wheel assemblies(such as front wheel 46) and anti-tip wheels that are raised duringnormal operation and encompasses wheels in the front and the rear of thewheelchair. In such embodiments, the raised anti-tip wheels can have afirst or rest position 40A when the wheelchair 10 is operating on flat,level ground.

Continuing with FIGS. 3A and 3B, the arm assembly 38 is coupled to theframe 14 and configured to move the wheel 46 relative to the frame 14upon encountering an obstacle. The arm assembly 38 illustrated in FIGS.3A and 3B is pivotably coupled the frame 14 such that the arm assembly38 and wheel axis A1 pivots about the pivot axis P1. It should beappreciated, however, that the arm assemblies can be coupled to theframe 14 such that the arm member 42 and wheel axis A1 translatesrelative to the frame 14, e.g. as illustrated in wheelchair 610 shown inFIGS. 14A and 14B. Accordingly, the powered wheelchair is configuredsuch that the spatial location of the arm member 42 and front wheel axisA1 are moveable, rotationally and/or translatably (e.g., relative to theframe and/or drive axis as opposed to spinning about its axle or casterkingpin). The words “move,” “moveable”, or “movement” when used inreference to motion of the arm member and front wheel includesrotational movement (FIGS. 3A, 3B and 18A) and translational movement(FIGS. 14A and 14B) (and is not intended to include rotation about afront wheel axis A1 or wheel axle).

In the embodiment illustrated in FIGS. 3A and 3B, the arm assembly 38 iscoupled to the frame 14 and configured to pivot such that the arm member42 and wheel axis A1 is pivotable about the axis P1 along a rotationaldirection B1-B2. For instance, the arm assembly 38 is configured topivot about the pivot axis P1 as the wheelchair 10 traverses obstaclesalong the surface G, such as a curb. The arm assembly 38 is configuredso that arm member 42 is in a first or rest position 40A relative to theframe 14 when the wheelchair 10 is operating on flat, level ground (thatis, “normal operation”). When the wheelchair encounters an obstacle, thearm member 42 pivots upwardly about axis P1 in a first or upwardrotational direction B1 toward a second position 40 b that is differentfrom the first position 40A. In this regard, the second position 40 b isdifferent from the first position 40A along 1) both the verticaldirection V and the forward-rearward direction F-R, or 2) only thevertical direction V. When the front wheel 46 encounters a descent downa curb, however, the arm member 42 pivots downwardly about the axis P1in a second or downward rotational direction B2 that is opposite thefirst rotational direction B1 (which movement below ground G is notshown in the figures). The second position 40 b as used herein can meana position that is different from the first position 40A in an upward ordownward direction. When viewing the figures, the first rotationaldirection is clockwise and the second rotational direction iscounterclockwise. The extent that the arm member 42 pivots about thepivot axis P1 is referred to herein as the range of rotation or range ofmotion as further described below. Further, while reference is made tothe arm member 42 having a first position 40A and a second position 40 bthat is different than the first position 40A, the first and secondpositions 40A and 40 b also refer to the relative locations of the wheelaxis A1 when encountering an obstacle. It should be appreciated that thewheel axis A1 can be repositioned from a first position 40A into asecond position 40 b.

As noted above, the arm assembly 38 can be configured such that the armmember 42 and wheel axis A1 is translatable between the first position40A to the second position 40 b. For example, as illustrated in FIGS.14A and 14B, arm assemblies 638 are coupled to the frame 14 such thatthe arm member 42 and wheel axis A1 is translatable between the firstposition 40A and the second position 40 b along a linear direction Cthat is offset with respect to the vertical direction V andforward-rearward direction F-R. In such an embodiment, the secondposition 40 b is different from the first position 40A along 1) thevertical direction V or the forward-rearward direction F-R. Operation ofthe wheel chair 610 and arm assembly 638 is further detailed below. Thetranslating arm assemblies 638 can be similar to the arm assembliesdisclosed in U.S. Pat. No. 7,232,008, entitled, “Active anti-tip wheelsfor power wheelchair,” (the 008 Patent) assigned to Pride MobilityProducts Corporation. The disclosure of the 008 Patent is incorporatedby reference herein.

Continuing with FIGS. 3A and 3B, the proximal end 43 p of the arm member42 is pivotably coupled to the frame 14 such that the proximal end 43 pdefines the pivot axis P1. However, the arm member 42 can be pivotablycoupled to the frame 14 at a location disposed forward from the proximalend 43 p. In other words, the pivot P1 can be defined at any locationalong the arm member 42 between the proximal end 43 p and distal end 43d. In addition, in some embodiments, the pivot axis P1 is disposed belowa line L1 (FIGS. 2A and 2B) that intersects the front wheel rotationalaxis A1 and the drive wheel rotational axis A2. The wheelchair 10 can beconsidered a “low pivot” axis type wheelchair, such as that disclosed inU.S. Pat. No. 8,181,992, (the 992 Patent) entitled “Anti-tip system fora power wheelchair.” The disclosure of the 992 Patent is incorporated byreference into this disclosure to define a low pivot axis typewheelchair. However, the wheelchair 10 is not required to be a low-pivotaxis type wheelchair.

Continuing with FIGS. 3A and 3B, the stop member 44 a is located on oris part of the arm member 42 so as to, in some circumstances, engage thearm limiter assembly 60. In the illustrated embodiment, the distancefrom the pivot axis P1 to the stop member 44 a along the arm axis 45 isless than the distance from the stop member 44 a to the distal end 43 dof the arm member 42. In certain embodiments, the position of the stopmember 44 a toward the distal end 43 d permits engagement with theillustrated arm limiter assembly 60 (when in locking configuration) whenthe front wheel 46 encounters moderately sized obstacles. However, thestop member 44 a could be disposed along any portion of the arm member42 as needed. The stop member 44 a includes a first or upper engagementsurface 44 u (FIG. 4A) on a portion of the upper side of stop member 44a. The upper engagement surface 44 u faces upwardly opposite the groundsurfaced G when the arm member 42 is in the first position 40A. The stopmember 44 a also includes a second or rear surface 44 r (FIG. 4B) on arearward side of stop member 44 a. The rear surface 44 r faces therearward direction R when the arm member 42 is in the first position40A. The stop member 44 a is shown as a cylindrical body disposed alongthe arm member 42. However, the stop member 44 a can be monolithic withthe arm member body 43 a such that the arm member 42 defines the upperand rear engagement surfaces 44 u and 44 r. For instance, an upwardlyfacing surface of the arm member can define a curved or stepped profile.(see for example stop member 944 in FIGS. 18C and 18D). In certainembodiments, arm member 42 can include a projection that defines thestop member 44 a.

Continuing with FIGS. 3A and 3B, each arm assembly 38 can furtherinclude at least one linkage 50 that operatively connects the arm member42 to a respective drive motor 34. Motor torque from the drive motors 34will influence or cause the forward arm members 42 to pivot about theirrespective pivots P1 as the wheelchair 10 traverses an obstacle tothereby aid the wheelchair during obstacle traversal. It should beappreciated, however, that the anti-tip assemblies 38 can alternativelybe passive (i.e. not coupled to the drives) as desired.

Wheelchair 10 further includes a pair of arm limiter assemblies 60 thatare each associated with a respective arm assembly 38. Each arm limiterassembly 60 is configured to selectively inhibit the range of motion ofthe arm assembly 38 relative to the frame 14. In the illustratedembodiment (see FIGS. 3A and 3B), the arm limiter assembly 60 isconfigured to selectively inhibit the extent that the arm assembly 38,specifically the arm member 42 or wheel 46, can pivot about the pivotaxis P1 in the upward direction B1. The arm limiter assembly 60 has afirst or disengaged or open configuration as shown in FIG. 4B (shown indashed lines in FIG. 3A) in which the arm limiter assembly 60 does notrestrict the upward range of motion of arm member 42. Accordingly, inthe disengaged or open configuration, the arm assembly 38 is rotatablefrom the first position 40A (that is, it's normal state) through a firstrange of rotation about the pivot axis P1.

In addition, the arm limiter assembly 60 has a second or engaged orlocked configuration as shown in FIG. 4A (shown in solid lines in FIG.3A) in which arm limiter limits the upward range of motion of the armmember 42. In the engaged or locked configuration, the arm assembly 38is rotatable through a second range of rotation that is less than thefirst range of rotation. Accordingly, when the arm limiter assembly 60is in the locked configuration, the arm member 42 is not rotatable aboutthe pivot axis P1 to the same extent that the arm member 42 is rotatableabout the pivot axis P1 when the arm limiter assembly 60 is in the openconfiguration. The wheelchair 10 is configured to transition the armlimiter assembly 60 between the open and locked configurations based onposition of the seat 22 and/or condition of the ground surface G thatthe wheelchair 10 is traveling along, as will be further detailed below.

The range of rotation as used herein refers to rotation of the armmember 42 to a position that is different than the first position 40A.When the arm member 42 is in the first position 40A, such that thewheelchair 10 is operating on flat, level ground, a first, fixedreference line I1 intersects the pivot axis P1 and the front wheel axisA1. The first line I1 is coaxial with an arm reference line I2 that alsointersects the pivot axis P1 and wheel axis A1 only when the wheelchair10, for example the front wheel 46 and drive wheels 32, are on a flat,level ground surface G. The arm reference line I2 represents the firstposition 40A of the arm assembly 38 (FIGS. 4A, 4B). The lines I1 and I2define an angle α that is about zero (0) degrees when the arm assembly38 is in the first position 40A. In the illustrated embodiment, in thefirst range of rotation (that is, without upward limit by arm limiterassembly 60) angle α can be up to, for example, about 20 degrees ofrotation relative to the first position 40A in either the upward (first)rotational direction B1 or the downward (second) rotational directionB2. The range of arm rotation when arm limiter assembly 60 is in theopen configuration is bounded merely by the wheelchair structure and itscorresponding function. For instance, in the first range of rotationangle α can extend from −10 degrees (that is, in the downward direction)from the line I1 at the first position 40A to +10 degrees in the upwardrotation direction B2 from the line I1 at the first position 40A.

The second range of rotation (that is, the rotation capable when the armlimiter is engaged with the arm) can be any desired range that is lessthan the first range of rotation. In the second range of rotation angleα can be, for example, up to about 10 degrees of rotation relative tothe first position 40A in the upward (first) rotational direction B1and/or the downward (second) rotational direction B2. For instance, inthe second range of rotation angle α can extend from −5 degrees (thatis, in the downward direction) from the line I1 at the first position40A to +5 degrees in the upward rotation direction B2 from the line I1at the first position 40A. When the arm limiter assembly 60 is in thelocked configuration, the second range of rotation includes the angle αequal to about zero (0) degrees such that the arm member 42 is fixedrelative to the frame 14. In other words, the second range of rotationincludes arm member 42 fixed against pivotable movement (especiallyupward movement) relative to frame 14. It should be appreciated that thesecond range of rotation can be partially within the first range ofrotation, such the upper and lower limits are 0 degrees and +10 degrees.In the exemplary embodiment shown, the arm limiter assembly 60 isinhibited from transitioning into the second configuration when theposition of the arm assembly is rotationally different from the firstposition 40A relative to the frame 14 by more than four (4) degrees. Insome embodiments, the arm limiter assembly 60 is prevented fromtransitioning into the second configuration under selected triggerconfigurations of the wheelchair. One trigger configuration may includewhen the position of the arm assembly is different from the firstposition 40A relative to the frame 14 by more than one degree. Othertrigger conditions may include the position of the seat, and inclinationof the wheelchair, e.g., un-level. In one embodiment, limiter assembly60 is prevented from transitioning into the second configuration whenthe position of the arm assembly is different from the first position40A relative to the frame 14 by more than two degrees. In oneembodiment, limiter assembly 60 is prevented from transitioning into thesecond configuration when the position of the arm assembly is differentfrom the first position 40A relative to the frame 14 by more than threedegrees. In other exemplary embodiments, the arm limiter assembly 60 isinhibited from transitioning into the second configuration when theposition of the arm assembly is rotationally different from the firstposition 40A relative to the frame 14 by less than four (4) degrees.

Arm limiter assembly 60 is in the open configuration when the wheelchair10 is operating in the standard motion mode, i.e., when the seat is inthe lowered position. When the controller 92 receives an input from theinput device 8 to operate the wheelchair 10 in the elevated motion mode,the controller 92 causes arm limiter assembly 60 to transition into thesecond or engaged configuration. However, if certain conditions are notmet the arm limiter assembly 60 may be inhibited from moving into thesecond configuration. For example, the arm limiter assembly 60 may beable to move into the second configuration only when the front wheel 46and drive wheel 32 are on flat, level ground. Further, the arm limiterassembly 60 may be able to move into the second configuration only whenfront wheel 46 is in a different position from the first position 40A,but still within the second range of motion as noted above. In theembodiment shown, if the front wheels 46 are on uneven ground relativeto the drive wheels 32 such that a forward arm member 42 is pivotedupwards into the second position 40 b as shown in FIG. 4C, then the armlimiter assembly 60 is physically blocked from moving into the lockingconfiguration. In alternative embodiments, the controller 92 may beconfigured to inhibit the arm limiter assembly 60 from transitioninginto the second configuration when the front wheel 46 and drive wheelare on flat, level ground.

The arm limiter assembly 60 is configured to transition between the openconfiguration and the locking configuration so as to limit the range ofrotation of the arm member 42 as described above. In the embodimentillustrated in FIGS. 3A-4C, the arm limiter assembly 60 includes arotatable member 70 that is rotatably mounted to the frame 14, anactuator 88, a transfer linkage 84 coupled to actuator 88, and a biasingmember, such as spring 80 operably connected to the linkage 84 and therotatable member 70. The actuator 88 is operable to cause movement ofthe transfer linkage 84, which in turn causes movement of the rotatablemember 70 as further detailed below.

Referring to FIG. 3B-4B, the rotatable member 70 is pivotably coupled tothe frame 14 at a connection 69 and rotatable about the pivot axis P2between the open configuration (FIG. 4B) and the locked configuration(FIGS. 3B, 4A). In the illustrated embodiment, the rotatable member 70is a beam or brace in the form of a bar. Other elongate shapes, such aswithout limitation a plate, rod, tube, are contemplated in furtherembodiments. The rotatable member 70 defines a body 74 having a first orproximal end 74 a rotatably coupled to the frame 14 and a second ordistal end 74 b that is opposed to proximal end 74 a along an axis 71.The body 74 includes a forward edge 75 a and a rearward edge 75 bopposed to the forward edge 75 a. The edges 75 a and 75 b extend atleast partially from the proximal end 74 a to the distal end 74 b. Thedistal end 74 b defines a distal-most contact surface 78, that can becurved, and is configured to engage the stop member 44 a to therebylimit the pivotal movement of the arm member 42 in the upward directionB1. As illustrated, when the rotatable member 70 is in lockingconfiguration, the distal surface 78 of the rotatable member 70 abutsthe upper engagement surface 44 u of the stop member 44 a, thuspreventing further upward rotational movement of the arm member 42.Contact surface 78 can be in contact with stop member 44 a whenrotatable body 74 is in the locked position and arm member 42 isoriented at its rest or first position in which angle α is zero.Alternatively when angle α is zero, arm limiter 60 and arm member 42 mayalso be configured to provide a clearance between contact surface 78 andstop member 44 a for ease of rotation of body 74 into and out of thelocked configuration, for manufacturing tolerances, and like factors. Inone embodiment, if arm member 42 has a different position from firstposition 40A, the selected geometric configuration of at least one ofthe arm member 42, stop member 44, and rotatable member 70 can preventrotatable member 70 from transitioning into the second configuration.For example, if the arm member 42 is rotationally different from thefirst position 40A (that is, angle α—illustrated in FIG. 4C—is non-zero)by a predetermined amount as further discussed below, the edge 75 a ofthe rotatable member abuts the rear surface 44 r which prevents therotatable member 70 from transitioning into the second configuration.

Turning to FIGS. 3A and 3B, in accordance with the illustratedembodiment, the actuator 88 rotates member 70 between the openconfiguration and the locking configuration via movement of the transferlinkage 84 along the forward and rearward directions F and R. As shown,the transfer linkage 84 is an elongate rod or bar that includes arearward portion 85 r and a forward portion 85 f spaced from therearward portion 85 r in the forward direction F. The rearward portion85 r is coupled to the actuator 88 and the forward portion 85 f slideswithin an elongated slot 13 that is defined by a plate extending fromthe frame 14.

As shown in FIG. 3B, the biasing member 80 preferably is a strut thatincludes a rod 82 a and a biasing element 82 b, such as a coil spring,disposed about the rod 82 a between a moveable stop element 82 c and afixed stop element 82 d. The biasing member 80 defines a forward end 81f and a rearward end 81 r disposed rearwardly with respect to theforward end 81 f As illustrated, opposed ends of the rod 82 a define theforward and rearward ends 81 f and 81 r, respectively. The forward end81 f of the biasing member 80 is fixed to the rotatable member 70. Acoupling plate 83 connects the transfer linkage 84 to the rearward end81 r of the biasing member 80 at the fixed stop element 82 d. A distalend 83 e of the rod 82 a is slidable through a bore (not numbered)defined by the fixed stop element 82 d. As the transfer linkage 84 ismoved in the forward direction F by the actuator 88, the forward andrearward motion of the transfer linkage 84 is transferred to therotatable member 70. In particular, when the controller 92 receivesinput from the input device 8 to operate the wheelchair 10 in theelevated motion mode, the controller 92 attempts to put arm limiterassembly 60 in the locked configuration by actuating the actuator 88causing the transfer linkage 84 to move in the forward direction F andslide through the slot 13 along with the coupling plate 83. Movement ofthe coupling plate 83 urges the biasing member 80 toward the front ofwheelchair 10, which in turn causes the rotatable member 70 to pivotabout pivot axis P2 toward the second configuration (see FIG. 4A). Thespring 82 b is selected so that the force required to compress thespring 82 b is greater than the force required to urge the rotatablemember 70 into the second configuration uninhibited. Spring 82 b isconfigured to bias arm limiter assembly 60 toward the lockedconfiguration.

FIGS. 4A, 4B, 4C illustrate an arm limiter assembly 60 in the lockingconfiguration 71 c (FIG. 4A), the open configuration 71 o (FIG. 4B), anda blocked configuration 71 o (FIG. 4C), whereby the arm member 42 ispreventing transition of the arm limiter assembly 60 from the openconfiguration 71 o into the locking configuration 71 c. Referring firstto FIG. 4B, during normal operation and when the seat 22 is in thelowered position, the arm limiter assembly 60 is in the openconfiguration. The actuator 88 has been actuated to retract the transferlinkage 84 and thus move the rotatable member 70 into the openconfiguration. As noted above, in the open configuration, the arm member42 is rotatable through its maximum range of rotation, such that thewheelchair 10 is operable to traverse an obstacle O or a descent alongthe surface G.

Turning to FIG. 4A, when wheelchair 10 is operated in an elevatedmode—when the seat 22 is in the raised position—the arm limiter assembly60 has transitioned into the locked configuration, with one exceptiondiscussed below. For instance, the actuator 88 cause the transferlinkage 84 to move along the forward direction F, which in turn causesthe rotatable member 70 to transition into the locking configuration asshown in FIG. 4A. Because the rotatable member 70 has pivoted intolocking configuration, the distal surface 78 of the rotatable memberabuts the upper engagement surface 44 u of the stop member 44 a, thuspreventing further upward rotational movement of the arm member 42.Accordingly, as the seat 22 is elevated into the raised position, theforward arm member 42 will have a limited range of rotation such thatthe wheelchair 10 is not operable to ascend an obstacle O along thesurface G. When seat 22 is moved into a lowered position, the armlimiter assembly 60 transitions back into the open configuration suchthat range of motion of the arm member 42 is restored. In someembodiments, the wheelchair 10 is configured to require operation in thestandard mode, when the seat 22 is lowered, before the full range ofmotion to the arm assembly 38 is restored and the obstacle can be safelytraversed.

Referring now to FIG. 4C, if front wheel 46 is on uneven ground surfaceG relative to the drive wheels 32, such as when the wheelchair beginstraversing the obstacle O, the forward extending arm member 42 ispivoted in an upward rotational direction B1 (that is, angle α ispositive) away from the first position 40A toward the second position 40b. For example, the second position 40 b illustrated in FIG. 4C can bewhen the arm member 42 is rotationally different from the first position40A by a predetermined angle. In some embodiments the predeterminedangle is by at least six (6) degrees, at least (5) degrees, at leastfour (4) degrees, at least three (3) degrees or at least two (2)degrees. In other embodiments, the predetermined angle is at least aboutsix (6) degrees, at least about five (5) degrees, at least about four(4) degrees, at least about three (3) degrees or at least about two (2)degrees. As illustrated, the angle α2 between the first line I1 and thefixed line I2 is about 4 degrees. If the controller 92 receives arequest to operate the wheelchair in the elevated mode and elevate theseat 22 into the raised position (e.g., an elevated position that ispre-determined or selected to merit engagement of an anti-tip safetyfeature such as one or more of the features described herein), theactuator 88 causes or attempts to cause the transfer linkage 84 to movein forward direction F, which in turn causes or attempts to cause therotatable member 70 to advance toward the locking configuration. Becausethe arm member 42 is pivoted upwards, the rear surface 44 r of the stopmember 44 a abuts the forward edge 75 a of the rotatable member 70,preventing further rotation of the rotatable member 70 into the lockingconfiguration. However, even when the forward extending arm member 42 ispivoted upwards away from the first position 40A into the secondposition 40 b, the actuator 88 causes the transfer linkage 84 to biasthe rotatable member 70 toward the locking configuration. Morespecifically, displacement of the transfer linkage 84 and the couplingplate 83 causes the biasing element 82 b to compress as shown in FIG.4C. The compressed spring 82 b applies a force to the moveable stopelement 82 c urging the rotatable member 70 toward the lockedconfiguration, which as shown is abutting the stop 44 a. Once wheelchair10 has moved to a location on the surface G such that the front wheel 46and the drive wheels 32 are on flat, level ground (i.e. the firstposition 40A), the compressed biasing element 82 b will automaticallyurge the rotatable member 70 into the second configuration as shown inFIG. 4A.

The wheelchair 10 in some embodiments can further include a linkageassembly that operatively connects the lift mechanism 18 to the armlimiter assembly 60 such that as the seat 22 is moved from the loweredposition 5L to the raised position 5R, the linkage assemblyautomatically causes the arm limiter assembly 60 to move from the firstor open configuration toward the second or locked configuration. Thelinkage assembly (not illustrated) can be configured such that the linkcan be capable of connecting to the lift mechanism 18 only when thefront wheels 46 and the drive wheels 32 are on substantially evenground, for instance when the front wheels 46 are in the first position40A as described above with respect to FIG. 2A-4C. In an embodiment, thelinkage can include a hook member that is movable between an engagedposition whereby the hook member is capable of connecting to the liftmechanism 18 and a disengaged position hereby the hook member isincapable of connecting to the lift mechanism 18. It should beappreciated, however, that in such embodiments, the link can haveconfigurations other than the hook member as desired. For instance, thelinkage assembly may include one or more elongate legs secured to therotatable member 70, 170, a connection member that operatively connectsthe lift mechanism 18 to the one or more elongate legs, and one or moresprings connected to the one or more elongate legs and the rotatablemember which are configured to bias the rotatable member 70, 170 intothe second configuration. The connection member include a cable orassembly of rods or connection bars that engage the lift mechanism andselectively engage the one or more elongated legs. When the liftmechanism causes the seat 22 to move from the raised position into thelowered position, the linkage assembly may cause the rotatable member70, 170 to rotate from the locking configuration into the openconfiguration. Movement of the seat 22 from the lowered position to theraised position, permits the rotatable member 70, 170 to move from theopen configuration into the locking configuration.

Referring to FIG. 5, the wheelchair 10 includes control system 90 thatincludes a controller 92 configured to operate the wheelchair 10 indifferent operational modes (e.g., one or more of the operation modesdescribed herein). The controller 92 in some embodiments is inelectronic communication with the lift mechanism motor 20, the drivemotors 34 (or multiple drive motors if present), and the actuator oractuators 88. As noted above, the input device 8 is also in electroniccommunication with the controller 92. Further, a plurality of sensors 96a-96 c can include, for example, one or more position sensors 96 a thatcan determine the position of the components of the arm assembly 38 andarm limiter assembly 60, a seat-position sensor 96 b, and an inclinationsensor 96 c.

The controller 92 can be configured as a computing device configured toprocess input signals and control operation of the wheelchair 10. Thecontroller can include a processing portion 94 a, a memory portion 94 b,an input/output portion 94 c, and a user interface (UI) portion 94 d. Itis emphasized that the block diagram depiction of the computing devicecontrol system 90 is exemplary and not intended to imply a specificimplementation and/or configuration. The processing portion 94 a, amemory portion 94 b, an input/output portion 94 c, and a user interface(UI) portion 94 d can be coupled together to allow communicationstherebetween. As should be appreciated, any of the above components maybe distributed across one or more separate control boards as needed.

In various embodiments, the input/output portion 94 c includeselectronic connectors for wired connections to the lift motor 20, drivemotors 34, and actuators 88. The input/output portion 94 c is capable ofreceiving and/or sending signals information pertaining to operation ofthe lift mechanism, drive motors 34 and actuators 88. The input/outputportion is configured to receive information or signals from the inputdevice 8 or sensors 96 a-96 b. The signals can include inputs, such asinstructions to cause the actuator 88 to move the transfer linkage 84 inthe forward and rearward direction F and R, or data, such as theposition of the seat 22. Depending upon the exact configuration and typeof processor, the memory portion 94 b can be volatile (such as sometypes of RAM), non-volatile (such as ROM, flash memory, etc.), or acombination thereof. The controller 92 can include additional storage(e.g., removable storage and/or non-removable storage) including, butnot limited to, tape, flash memory, smart cards, CD-ROM, digitalversatile disks (DVD) or other optical storage, magnetic cassettes,magnetic tape, magnetic disk storage or other magnetic storage devices,universal serial bus (USB) compatible memory, or any other medium whichcan be used to store information and which can be accessed by thecontroller 92. The user interface portion 94 d can include an inputdevice 8 and allows a user to communicate with the controller 92 andcontrol operation of wheelchair as further detailed below.

Each arm limiter assembly 60 can further include one or more positionssensors 96 a in communication with the controller 92. For example, eacharm limiter assembly 60 can include a first position sensor that isconfigured to detect when the rotatable member 70 is in the lockingconfiguration. In some embodiments, a second position sensor isconfigured to detect the position of the arm member 42. For instance,the arm position sensor can include a limit switch that detects when thearm member 42 is in the first position 40A or the position sensor candetect the second position 40 b as well as any incremental positionsbetween the first and second positions 40A and 40 b. Based on thedetected positions, the controller is configured to determine, based onthe detected positions of the arm member 42, if the arm member 42 islocked such that it is within the second, more limited range ofrotation. Furthermore, the position data can be used by the controller92 to cause the rotatable member 70 to progressively restrict the rangeof rotation of the forward arm member 42 relative to the frame 14.Preferably, controller 92 enables operation in the normal elevated modeonly when arm limiter 60 is in the locking configuration. The actuator88 can be configured to progressively move the rotatable member 70 basedon at least one of speed of the wheelchair 10, the distance the seat isspaced from the frame 14, and the position of the arm member 42 as thewheelchair moves down an obstacle.

The seat-lift sensor 96 b can be a limit switch that is configured todetect when the seat 22 has been moved out of the lowered position. Forexample, the seat-lift sensor detects when the seat 22 is in contactwith the frame 14. If the seat 22 is not in contact with the frame 14,the sensor 96 b can transmit a signal to the controller 92. In certainembodiments, the seat-lift sensor 96 b can be a limit switch that isconfigured to detect when seat is moved out the lowered position. Thecontroller 92 can cause a message to display on the input device 8 orcause some other operation as needed and based on inputs from the othersensors.

The inclination sensor 96 c is configured to detect whether the frame 14is in a level position with respect to a horizontal plane or an inclinedor unleveled position with respect to the horizontal plane alongforward-rearward direction F-R and along a lateral direction C that isperpendicular to the forward-rearward direction F-R. The lateraldirection C is not illustrated in the figures. The horizontal planeextends through the frame 14 is parallel to the surface G when thewheelchair 10 is on a flat, level ground surface G. In accordance withthe illustrated embodiment, the inclination sensors 96 c can be securedthe frame 14 and oriented roughly parallel to the surface G. Theinclination sensor 96 c can measure the angular position data of theframe 14 relative to horizontal along the forward-rearward direction F-Rand along the lateral direction C. The angular position data can be sentto the controller 92. The processing portion 94 determines, based on theangular position data, if the angular position of the frame 14 is withina predetermined threshold with respect to the horizontal plane in boththe forward-rearward direction F-R and lateral direction C. Thepredetermined threshold is the range of inclination that is slightenough such that operation of the wheelchair 10 in the elevated motionmode would not cause a significant risk of instability due to theelevated center of gravity. The predetermined threshold depends on theparticular parameters of the wheelchair and may be empirically chosen aswill be understood by persons familiar with wheelchair design. For theembodiment shown in the figures, the inclination threshold may be about1 degrees of inclination. If the frame 14 is inclined with respect tothe horizontal plane (the inclination exceeds the predeterminedthreshold) compared with its at-rest state, the controller 92 mayprevent operation of the wheelchair in the elevated motion mode or mayrestrict operation to an elevated-inhibited mode. For instance, if thecontroller 92 receives an input from the input device 8 to operate thewheelchair 10 in the elevated motion mode and the frame 14 is inclinedwith respect the horizontal plane, the controller 92 will only operatethe wheelchair 10 in an elevated motion mode if the arm limiterassemblies 60 are in the locking configuration. If, however, the frame14 is not inclined with respect to the horizontal plane (the inclinationis within the predetermined threshold) and the controller 92 receives aninput to operate in the elevated motion mode, the controller 92 causesthe lift mechanism to elevate the seat 22 to the raised position. Asdiscussed earlier, the arm limiter assembly 60 would be moved into thelocking configuration as well. In an embodiment, the inclination sensor96 c can include an accelerometer and/or gyroscope, or others as needed.

The input device 8 is in communication with the controller 92 andconfigured to be operated by the occupant of the wheelchair 10. Theinput device 8 can include a joystick, a keypad and a display. Thejoystick can cause the wheel chair to move forward, rearward, or turn tochange directions. The keypad includes input buttons that controloperation of the wheelchair 10. The display can cause the display ofnotifications regarding wheelchair operation. The keypad and display canbe integrated into a touch screen that receives user inputs and causethe display of various messages regarding wheelchair operation. Thedisplay or keypad and/or display can include input buttons that controlvarious operational aspects of the wheelchair. For instance, the keypadinclude buttons that when depressed cause the wheelchair 10 to operatein the elevated motion mode. The controller 92 is configured to, inresponse to inputs from the input device 8 to operate the wheelchair 10in the elevated motion mode, cause the input device 8 to display amessage or otherwise indicate that the elevated motion mode ispermitted. If the elevated motion mode is permitted, controller 92causes the lift mechanism to move the seat 22 into the raised positionwhen the frame 14 is level and the arm limiter assembly 60 is in thelocking configuration.

The wheelchair 10 is, in some embodiments, configured to operate in theelevated motion mode only when one or more safety criteria aresatisfied. As noted above, the safety criteria can include the positionof the seat 22 (e.g., raised from its lowermost position), inclinationof the frame 14, and the configuration of the arm limiter assemblies 60.If the seat 22 is in raised position, the center of gravity is elevatedwhich decreases wheelchair stability. Further, the risk of tipping thewheelchair 10 increases when wheelchair 10 is attempting to ascend anobstacle and the seat is elevated. Further, stability is adverselyaffected when the frame 14 is inclined. The arm limiter assemblies 60are configured to limit the ability of the wheelchair 10 to ascend anobstacle along the surface G if the seat is in raised position.Accordingly, if the controller 92 determines that fewer than all of thesafety criteria are met, the controller 92 causes the input device 8 todisplay a message or otherwise indicate that the elevated motion mode isnot permitted or is restricted to the elevated-inhibited mode.

An embodiment of the present disclosure includes methods for operatingwheelchair 10 in the standard mode, as shown in FIG. 6A, and theelevated motion modes, as shown in FIG. 6B. Turning to FIG. 6A, assumingthat wheelchair 10 is on flat, level ground and the seat is in the fullylowered position, a method according to an embodiment includes steps300-320. In step 300 the occupant of the wheelchair 10 can request tooperate the wheelchair 10 in the elevated motion mode via the inputdevice. At step 304, the controller in response to this input from theoccupant causes the arm limiter assemblies 60 to move toward the lockedconfiguration.

At step 308, the controller 92 receives angular position data frominclination sensor (e.g., inclination sensor 96 c). The controller 92will determine, based on the angular position data obtained from theinclination sensor, whether the frame 14 is level. At step 312, if theframe 14 is not level, the controller 92 causes an indication to displayon the display device that the elevated motion mode is not permitted.The controller 92 can also cause the display of message indicating thatthe occupant should drive the wheelchair 10 to level, flat ground. If,in step 308, the controller determines that the frame 14 is level,process control is transferred to step 316.

In step 316, the arm limiter position sensors (e.g., position sensors 96a) send a signal to the controller 92 regarding the arm limiter positiondata for the arm limiter assemblies 60. The controller 92 determines,based on the arm limiter position data, whether the arm limiterassemblies 60 are in the locked configuration. If the controller 92determines that the arm limiter assemblies 60 are not in the lockedconfiguration, the controller 92 causes an indication to display on thedisplay device that the elevated motion mode is not permitted. Thecontroller can also cause the display of message indicating that theoccupant should drive the wheelchair 10 to level, flat ground. At thisinstance, the arm member 42 may be in the second position 40 b such thatstop member 44 a inhibits rotation of the rotatable member 70 into thesecond configuration (see FIG. 4C). When the wheelchair 10 has moved tolevel, flat ground, the arm member 42 is moved back toward the firstposition and the biasing member 80 will automatically urge the armlimiter assembly 60 into the locked configuration as discussed above.

At step 320, the controller 92 determines, based on inputs from eachsensor, that all safety criteria are met. For instance, the controller92 determines if the seat 22 is in the lowered position and the armlimiter assembly 60 is in the locked configuration. The controller 92will indicate via the display device that operation of wheelchair 10 inthe elevated motion mode is permitted. Process control is transferred tostep 330 shown in FIG. 6B.

Turning now to FIG. 6B, a method for operating the wheelchair 10 in theelevated motion mode is illustrated. At step 330, controller 92 can,based on input from the input device 8 or automatically, cause the liftmechanism 18 to raise the seat 22 from the lowered position into theraised position. At step 334, the controller can cause the actuators 88to move the rotatable members 70 toward the locked configuration.

At step 338, the controller 92, based on inputs from the inclinationsensors (e.g., inclination sensor 96 c) and arm limiter position sensors(e.g., position sensors 96 a), can determine if the frame 14 is leveland if the rotatable members 70 are in the locked configuration. Inother words, in step 338, the controller 92 determines if all safetycriteria are met. At step 342, if all safety criteria are met, thewheelchair 10 is permitted to operate in the elevated motion mode andthe controller 92 powers the drive motors 34 such that the wheelchair 10is capable of moving within the maximum raised-seat drive speed (e.g., 0mph to 5 mph). In this regard, the controller 92 operates the drives upto the maximum raised-seat drive speed when the seat 22 is in the raisedposition and the rotatable member 70 is in the locked configuration. Atstep 342, if the controller 92 determines that less than all of thesafety criteria are met when the wheelchair 10 is in the elevated motionmode, the controller 92 powers the drive motors 34 such that thewheelchair is capable of moving within the maximum raised-inhibiteddrive speed range (e.g., 0 mph to 3.75 mph). In this regard, thecontroller 92 operates the drive motors 34 so as to advance thewheelchair 10 up to the maximum raised-inhibited seat drive speed whenthe seat 22 is in the raised position and the rotatable member 70 is inthe open or first configuration. As noted above, the upper limit of themaximum raised-inhibited seat drive speed range is less than the upperlimit of the maximum raised-seat drive speed range. Accordingly, thewheelchair 10 is configured to limit the maximum attainable speed whenthe rotatable members 70 are in the open configuration and the armmembers 42 are pivotable so as to traverse an obstacle.

At step 346, if the controller determines that all of safety criteriaare not met, the controller 92 causes the display device to display amessage to the occupant that the elevated motion mode is not permitted.The controller 92 can also cause the display of message indicating thatthe occupant should drive the wheelchair 10 to level, flat ground. Ifduring operation of wheelchair 10 in the elevated motion mode thewheelchair 10 traverses an inclined surface or some other obstacle, theinclination sensor obtains the angular position data for the frame 14 asdiscussed above. At step 348, if the controller 92 determines, based onangular position data, that the frame 14 has transitioned from a levelposition to an inclined position that exceeds the predeterminedthreshold, the controller 92 automatically causes the drive motors 34 toreduce the speed of the wheelchair 10 to within the maximumraised-inhibited drive speed range.

Accordingly, in response to input from an input device to operate thewheelchair in an elevated motion mode and in response to data obtainedfrom the inclination sensors and arm limiter position sensors, thecontroller 92 according to some embodiments is configured to: (i) powerthe drive motors 34 such that the wheelchair is capable of moving withinthe maximum raised-seat drive speed range when the seat is in the raisedposition, the locking mechanism is in the locked configuration, and theframe 14 is level. Further, the controller is configured to power thedrive motors 34 such that the wheelchair 10 is capable of moving at themaximum raised-inhibited drive speed when the seat 22 is in the raisedposition and either A) the rotatable member is in the openconfiguration, and/or B) the frame is in the unleveled position. Itshould be appreciated, however, that the controller can be configured tooperate the wheelchair 10 in an desired mode based on data obtained fromthe sensors in any order desired and after any desired criteria are met.

FIGS. 7-13B illustrate wheelchairs according to alternate embodiments ofthe present disclosure. Turning to FIGS. 9A and 9B, a powered wheelchair 110 is configured similar to the powered wheelchair 10 describedabove and illustrated in FIGS. 1-5. Accordingly, the description belowregarding wheelchair 110 will use similar reference signs to identifyelements common to wheel chair 10 and wheelchair 110. Powered wheelchair110 includes a frame 14, drive wheels 32 coupled to the frame 14,forward arm assemblies 38, rear arm assemblies 48, a lift mechanism 18and a seat 22 supported by the lift mechanism 18. Further, the poweredwheel chair 110 includes control system 90 and associated sensors 96 a,96 b, 96 c.

Continuing with FIGS. 9A and 9B, in the alternative embodiment, thepowered wheel chair 110 includes a pair of arm limiter assemblies 160.Only one arm limiter assembly will be described below, as the oppositearm limiter assembly in the pair is similarly constructed. The armlimiter assembly 160 includes a rotatable member 170 pivotably coupledto the frame 14, a compressible or moveable end 174 b, an actuator 88(not shown in FIGS. 9A and 9B), a linkage 84 coupled to the actuator,and a biasing member 80 coupled to the linkage 84 and the rotatablemember 170. Actuation of the actuator 88 translates the linkage 84,which in turn, causes the biasing member 80 to advance the rotatablemember 70 from the open configuration 71O (FIG. 9A) into the lockedconfiguration 71 c (FIG. 9A).

At least a portion of the rotatable member 170 is configured to at leastpartially compress along an axis 71 in response to upward movements ofthe arm member 42 against the end 174 b when the rotatable member 70 isin the locking configuration, as further detailed below. The biasingmember 80 can be directly or indirectly coupled to the linkage 84 andthe rotatable member 170

Referring to FIGS. 7 and 9B, the rotatable member 170 includes a body173 b, a translating member 176 moveably coupled to the body 173 b, anda biasing member 178. As shown in FIG. 9B, when the rotatable member 170is in the locking configuration 70L and the wheelchair 10 ascends overan obstacle O, the biasing member 178 allows the arm member 42 topartially rotate upwards against the force of biasing member 178 so asto prevent the wheelchair from high-centering (e.g. drive wheels areable to contact the ground when the chair ascends a low obstacle).Continuing with FIG. 7, the rotatable member 170 has a first or proximalportion 170 a and a second or distal portion 170 b spaced from theproximal portion 170 a along the axis 71 in a distal direction 4. Thedistal direction 4 is aligned with and parallel to the axis 71. Theproximal portion 170 a includes a proximal end 174 a and the distalportion 170 b includes the moveable or distal end 174 b. As illustrated,the translating member 176 defines the moveable end 174 b. The biasingmember 178 is disposed at least partially between the proximal portion170 a and the distal portion 170 b. The biasing member 178 isillustrated as a spring 170 c. And while a helical compression spring isillustrated, other spring types could be used as well. Further, thebiasing member 170 c can have other configurations, such as for example,a hydraulic piston as desired, a compressible material, such as gel orfoam, or other device or structure than provide a counter force againstforce applied to translating member 176 to cause the translating memberto advance along axis 71.

Continuing with FIG. 7, the body 173 b is configured to couple to theframe 14 and support the translating member 176 and biasing member 178.The body 173 b defines the proximal end 174 a, a forward side 175 a, arearward side 175 b opposed to the forward side 175 a along a transversedirection 6 that is perpendicular to the axis 71. The body 173 b definesa width W1 (not shown) that extends from the forward side 175 a to the arearward side 175 b in the transverse direction 6. The body 173 bincludes a pair of arms 173 e and 173 f defining a gap (not numbered).The body 173 b defines a surface 173 s that extends from arm 173 e toarm 173 f along the transverse direction 6, and a channel 171 a extendsfrom the surface 173 s into the body 173 b along the axis 71 toward theproximal end 174 a. An elongate slot 173 d extends through the body 173b and is in communication with the channel 171 a. The body 173 b can bea rigid plate or rod. As illustrated, the body 173 b is an elongateplate with extending arms 173 e and 173 f.

As noted above and illustrated in FIG. 7, the translating member 176 isconfigured to compress or move in response to force applied to it by thearm member 42. More specifically, in accordance with the illustratedembodiment, the translating member is translatable 1) toward the body173 b in an upward or proximal direction 2 that is opposite to distaldirection 4, and 2) away from the body 173 b in the distal direction 4.The translating member 176 includes a connection member 171 o, such as arod, that is moveably coupled to the body 173 b with a fastener 171 c.The rod 171 o is received by the channel 171 a and moveable within thechannel 171 a along the axis 71. The fastener 171 c extends through theslot 173 d and is fixed to the portion of the rod 171 o in the channel171 c. As the rod 171 o moves within the channel 171 a, the fastenerslides within the slot 173 d. It should be appreciated, however, thatthe translating member 176 and the body 173 b can be coupled together inother ways. For example, the proximal portion 170 a can include the rodand the distal portion 170 b can define the channel as desired. Further,the connection member 171 o is not limited to a rod but can be a plateor other elongate structure.

Continuing with FIG. 7, the distal end 174 b, such as the translatingmember 176, can define an outer surface with any shape or profile thatis configured to engage the arm member 42 as the arm member 42 pivotsrelative to the frame 14 during operation of the wheelchair.Accordingly, the distal end 174 b can have a surface that is configuredto abut the arm member 42 only when the rotatable member 70 or the armmember 42 is in specific orientations relative to the frame 14, e.g.when the rotatable member 70 is the locking configuration. In addition,the distal end 174 b can be configured to progressively restrictrotational movement of the arm member 42 dependent upon the orientationof the rotatable member 70 relative to the frame 14. For instance, therotational limit the rotatable member 70 applies to the arm member 42can vary as the position of the rotatable member 70 varies with respectto the frame 14.

In accordance with the embodiment illustrated in FIG. 7, the translatingmember 176 further defines an outer surface 179 a that is configured toengage the stop member 44 a of the arm member 42. For instance, theouter surface 179 a includes a forward surface portion 179 f, a rearwardsurface portion 179 r opposite to the forward surface portion along atransverse direction 6, and a distal-most surface portion 179 d thatextends from the forward surface portion 179 f to the rearward surfaceportion 179 r. The forward surface portion 179 f is configured to engagethe rear surface 44 r of the arm assembly 42 if the arm member 42 isascending an obstacle before the rotatable member 170 has transitionedinto the locking configuration (see e.g. FIG. 4C). And while the forwardand rearward surface portions 179 f and 179 r are illustrated parallelto the axis 71, the forward and rearward surface portions 179 f and 179r can have any shape, curvature, or inclination as needed. Thedistal-most surface portion 179 d, or distal surface 179 d, isconfigured to abut the upper surface 44 u of the stop member 44 a whenthe rotatable member 170 is in the locking configuration. Thetranslating member 176 defines a width W1 (not shown) that extends fromthe forward surface portion 179 f to the rearward surface portion 179 rin the transverse direction 6. The body 173 b defines a width W2 (notshown) that extends from the forward side 175 a to the rearward side 175b in the transverse direction 6. As illustrated the width W1 of thetranslating member 176 is about equal to the width W2 of the body 173 b.However, it should be appreciated that the width W1 of the translatingmember 176 can be greater than the width W2 of the body 173 b. Forexample, in embodiments where the translating member 176 is configuredfor progressive restriction of rotational motion of the arm member 42,the translating member width W1 could be greater than the width W2 ofthe body 173 b.

FIGS. 8A-8D schematically illustrate various alternate embodiments ofthe translating member 176. As noted above, the translating member candefine any particular shape and/or surface profile to engage the armmember 42 during operation of the wheelchair. For instance, thetranslating member 192 a (FIG. 8A) defines first and second distalsurfaces 19 a and 198 a. The first surface 19 a is inclined at anoblique angle with respect to the axis 71 and the transverse direction6, the second surface 198 a is normal to the axis 71. Translating member192 b (FIG. 8B) defines a distal surface 198 b that is slightly curvedwith respect to the axis 71 and is inclined along the transversedirection 6. Translating member 192 c (FIG. 8C) defines a distal surface198 c that is curved with respect to the axis 71 and the surface extendsfrom the intersection of the axis 71 and surface 198 c toward edges 175a and 175 b. The leading surfaces 192 a, 192 b, and 192 c provide a rampor cam surface for engaging stop member 44 a. Translating member 192 dshown in FIG. 8D defines a distal surface 198 d that inclines toward therearward side 175 b of the rotatable member 170.

Turning to FIGS. 10A-10D, a powered wheelchair 210 according to analternative embodiment of the present disclosure is configured similarto the powered wheelchair 10,110 described above and illustrated inFIGS. 1-5 and 9A-9B. For instance, the powered wheelchair 210 includes aframe 14, drive wheels 32 coupled to the frame 14, a pair of forward armassemblies 38, a pair of rear arm assemblies 48, and a lift mechanism 18mounted to the frame 14 and configured to move the seat 22 between thelowered and raised positions 5R. The powered wheelchair 210 includescontrol system 90 and sensors 96 a, 96 b, 96 c similar to the wheelchair10 described above. Accordingly, the description below regardingwheelchair 210 will use similar reference signs to identify elementscommon to wheelchair 10 and wheelchair 210.

In accordance with the alternative embodiment, the powered wheelchair210 includes a pair of arm limiter assemblies 260 configured toselectively engage the forward arm assemblies 38 so as to inhibitrelative motion between the arm assemblies 38 and frame 14 in certaininstances during operation of the wheelchair 210. As illustrated inFIGS. 10A-10C, the arm limiter assembly 260 includes a first matingmember 264 supported by the arm assembly 38 and a second mating member268 supported by the frame 14 that is configured to mate with the firstmating member 264 only when the front wheel 46 and drive wheel 32 are onsubstantially flat, level ground, for instance when the arm member 42 isin the first position 40A (FIG. 10A, (similar to FIG. 3A).

Further, the arm limiter assembly 260 has a first or open configurationand a second or locked configuration. When the arm limiter assembly 160is in the open configuration as shown in FIGS. 10B and 10C, the firstand second mating members are not engaged and the arm assembly 38 canpivot through the first range of rotation. When the arm limiter assembly260 is in the second or locked configuration as shown in FIG. 10A, thefirst and second mating members are engaged with each other and the armassembly 38 is permitted to pivot through the second range of rotationthat is less than the first range of rotation. In the lockedconfiguration, the arm assembly 38 may still pivot to a limited extent,such as 4 degrees away from the first position 40A, because the matingmember may be a slotted opening as explained more fully below.Alternatively, when the arm assembly 38 is in locked configuration, thearm assembly 38 may not pivot at all away from the first position 40A.In the illustrated embodiment, the first mating member 264 can be anaperture 272 and the second mating member 268 can be a pin 276 that isconfigured to be received by the aperture 272. It should be appreciated,however, that the pin 276 can be supported by the arm assembly 38 andthe aperture 272 supported by the frame 14 as desired.

Continuing with FIGS. 10A-10D, the arm limiter assembly 260 includes anactuator 88, a linkage 284, and a pin assembly 286 coupled to linkage284. The pin assembly 286 includes a projection in the form a pin 276.In the illustrated embodiment, the pin 276 is the first mating member264. The arm limiter assembly 260 further includes a leg 274 fixed tothe arm member 42 and a plate 290 directly or indirectly coupled to theleg 274. The actuator 88 is in the position to maintain the pin 276 in aretracted position when the seat 22 is in the lowered position as shownin FIG. 10B to enable standard mode operation of the wheelchair. Theactuator 88 moves the pin 276 toward an engaged position whereby the pin276 is received by the aperture 272 when the controller 92 receives aninput to move the wheelchair 210 in the elevated motion mode and theseat 22 is in raised position as shown in FIG. 10A, or otherwise to lockthe front arm assembly 38.

The leg 274 is coupled to the arm member 42 proximate the pivot axis P1.As the arm member 42 rotates about the pivot axis P1, the leg 274 andthe plate 290 rotates about pivot axis P1. If the arm member 42 rotatesin a first rotation direction B1, the plate 290 rotates in the secondrotational direction B2 (FIG. 10B). The plate 290 includes a plate body292, a first surface 293, a second surface 294 opposed to the firstsurface 293, and a thickness T (not shown) that extends from the firstsurface 293 to the second surface 294. The plate can define an upperedge 295 and a lower edge 296. The plate is curved as it extends fromthe upper edge 295 to the lower edge 296. In addition, the plate 290defines at least one aperture 272 (FIG. 10C) that extends along adirection aligned or parallel to the thickness T. The aperture 272 issized and configured to receive the pin 276. More specifically, theplate 290 defines an aperture edge 275. The aperture edge 275 definesthe aperture 272. For instance, the aperture 272 can be an elongate slotelongate along a direction that is angularly offset with respect to thethickness either vertically with respect to forward-rearward direction.In other embodiments, the aperture can be circular, oval, or othershaped opening. Further, in alternative embodiments, the plate 290 isconfigured so that the pin 276 can ride along its surface until pin 276extends beyond an edge of the plate 290, such as the aperture edge 275or the lower edge in accordance with certain embodiments.

Continuing with FIGS. 10A-10D, in operation, controller 92 receives aninput to operate wheelchair 210 with the seat 22 in the raised position.In response, the controller 92 the causes the actuator 88 move the pin276 to move into an extended configuration toward the plate 290. Asshown in FIG. 10A, when the plate 290 is in an aligned position wherebythe aperture 272 is aligned with the pin 276, for example due toorientation of the arm member 42 along along flat, level ground G, thepin 276 extends into the aperture 272. When the pin 276 extends alongthe edge 275 into the aperture 272, the arm limiter assembly 260 is inthe locked configuration and movement of the arm member 42 is limited.If, however, the wheelchair 210 is traversing an obstacle O as shown inFIG. 10C and the seat 22 is in the lowered position, the arm member 42is pivoted upwards in a first rotational direction B1 and the plate 290moves downward toward the surface G. This in turn causes the plate 290to slide along the pin 276 such that the pin 276 is disposed adjacentthe surface 294 and positioned upward with respect to aperture edge 275.The plate 290 in this position blocks the pin 276 from extending intothe engaged position. Because the pin 276 is prevented from moving intothe engaged position in the aperture 272, the arm limiter assembly 260is prevented from transitioning into the second or locked configuration.The wheelchair 210 operates similar in some respects as to how thewheelchair 10, 110 operates when the arm limiter assembly 60, 160 isprevented from the transitioning to the locked configuration. Forinstance, the controller 92 may prevent operation of one or more aspectsof the wheelchair 210 in the elevated motion mode, for example, if thecondition of the arm limiter being in the locking condition is not met.After the wheelchair 210 traverses the obstacle O, the arm member 42pivots downwardly until the front wheel 46 and the drive wheels 32 areon flat, level ground as shown in FIGS. 10A and 10B. At this point, theplate 290 is moved upwardly sliding along the pin 276 until the pin 276is aligned with the aperture 272. The pin 276, via the actuator as notedabove, urges the pin 276 to extend along the aperture edge 275 into theaperture 272 placing the arm limiter assembly 260 in the lockedconfiguration. In this regard, the plate 290 is configured as a slidingmember.

The aperture 272 can be elongate along the direction the pin 276 slidesalong the plate 290. In such embodiments, the arm member 42 can pivotthrough the second range of rotation (less than the first range ofrotation) when the arm limiter assembly 260 is in the lockedconfiguration while pin 276 is located in slotted aperture 272. In thisregard, the plate 290 is configured to permit the arm member 42 to pivotup to 4 or 5 degrees away from the its initial position 40A even whenthe arm limiter 260 is in the locked configuration. This particularembodiment permits the arm assembly 38 to traverse slight obstacles andprevent the arm assembly 38 and the arm limiter assembly 260 fromlocking out, and permits arm assembly 38 to be limited in its downward(direction B2) movement. It should be appreciated, however, that theaperture 272 can have a diameter or other dimension that issubstantially equal to that of the pin 276 such that when the pin 276 isreceived by the aperture 272, the forward extending arm 42 is fixedrelative to the frame 14 with little or no movement.

As illustrated, the aperture 272 is disposed between the upper and lowerplate edges 295 and 296 such that the pin 276 can extend along theaperture edge 275. It should be appreciated, however, that plate 290 canbe configured without an aperture that receives the pint 276. Forinstance, the lower edge 296 can define a surface along which the pin276 extends along in order to transition the arm limiter assembly 260into the second configuration. In other words, the plate 290 can bemoved into the locked or an aligned position when pin 276 is moveablealong the lower edge 296 into its engaged position.

Turning to FIGS. 11A and 11B another embodiment of wheelchair 310 isschematically illustrated including an arm limiter assembly 360according to yet another alternate embodiment of present disclosure. Thepowered wheelchair 310 according to an alternative embodiment of thepresent disclosure is configured similar to the powered wheelchair 10described above. Accordingly, the description below regarding wheelchair310 will use similar reference signs to identify elements common towheelchair 10 and wheelchair 310, such as the frame 14, drive wheels 32(not shown), forward arm assemblies 38, rear arm assemblies 48 (notshown), lift mechanism 18 (not shown), seat 22, and control system 90and sensors.

Continuing with FIGS. 11A and 11B, the arm limiter assembly 360 can beused on any one of the wheelchairs 10, 110, or 210 described above.Further, the wheelchair incorporating arm limiter assembly 360 mayinclude similar components and operation characteristics described aboveexcept as noted otherwise. The arm limiter assembly 360 includes a disc362 or a segment of a disc that is supported by the frame 14 andoperatively engaged with arm assembly 38, and in particular to theproximal end 43 p of the arm member 42. The arm limiter assembly 260includes a caliper or clamp 370 that is supported by the frame 14 of thewheelchair 310 (frame and wheelchair not shown in FIGS. 11A and 11B).The clamp 370 can have a pair of moveable pads 372 a and 372 b spacedapart with respect to each other to define a gap 373. The gap 373 issized to receive a portion of the disc 362 therein such there is nocontact or light contact between the pads 372 a and 372 b and thecorresponding surfaces of disk 362. The clamp 370 is configured toselectively engage the disc 362 to thereby restrict movement of the disc362 and the arm member 42. For instance, the clamp 370 can be coupled tothe actuator 88 such that when the actuator 88 is activated, themoveable arms 372 a, 372 b move toward each other in directions 385 aand 385 b against opposite surfaces 364 and 366 of the disc 362. In afirst or open configuration, the disc 362 is moveable in the gap 373 andthe arm member 42 is moveable through the first range of rotation ormotion. When the wheelchair 310 operates in an elevated motion mode, theactuator 88 closes the clamp 370 tightening against the disc 362.Because the disc 362 is thus fixed to the arm member 42, movement of thearm member 42 is stopped. In an alternative embodiment, the disc 326 canhave a protrusion or stop 368 that is positioned to align between theclamp arms 372 a, 372 b in the gap 373 when the arm member 42 isrotationally different from the first position 40A by more than 4 or 5degrees. In this position, the disc 362, via the stop 368 in the gap373, prevent the clamp arms 372 a, 372 b from transitioning into theclamped configuration against the surface 364 and 366, which in turnprevents arm limiter assembly 360 from locking movement of the disc andarm member 42.

Turning to FIGS. 12A-12C, a wheelchair 410 is illustrated including anarm limiter assembly 460 according to yet another alternate embodiment.The powered wheelchair 410 is configured similar to the poweredwheelchair 10 described above and illustrated in FIGS. 1-5. Accordingly,the description below regarding wheelchair 410 will use similarreference signs to identify elements common to wheelchair 10 andwheelchair 410, such as the frame 14, drive wheels 32 (not shown),forward arm assemblies 38, rear arm assemblies 48 (not shown), liftmechanism 18 (not shown), seat 22, and control system 90 and sensors. Inthe alternative embodiment, the arm limiter assembly 460 can beconfigured as rear-ward arm limiter assembly.

FIGS. 12A, 12B, 12C schematically illustrate the arm limiter assembly460 in the locking configuration 71 c (FIG. 12A), the open configuration71 o (FIG. 12B), and a blocked configuration 71 o (FIG. 12C), wherebythe arm member 42 is preventing transition of the arm limiter assembly460 from the open configuration 71 o into the locking configuration 71c. In the illustrated embodiment, the arm limiter assembly 460 can beconfigured as rearward arm limiter assembly. The arm limiter assembly460 includes an actuatable unit 462 coupled between the frame 14 and thearm member 42. The actuatable unit 462 can have a housing 464 and anelongate member 466 in the form of a rod or bar that extends out fromthe housing 464 and is movable with respect to the housing 464. FIG. 12Bshows the elongate member 466 in its retracted position. The extendedposition of elongate member 466 is shown in dashed lines in FIG. 12B.The elongate member 466 defines an end 468 spaced from the housing 464along a direction 469 that is aligned with and parallel to the forwarddirection F of the wheelchair 410. The arm limiter assembly 460 has 1) afirst or open configuration, whereby the elongate member 466 isretracted partially into the housing 464 such that the arm member 42 ispivotable through the first range of rotation as discussed above, 2) asecond or locked configuration where the elongate member 466 abuts thestop 44 a of the arm member 42, thereby preventing the arm member 42from pivoting upwardly with respect to the frame 14, and 3) a blockedconfiguration where the arm limiter assembly is prevented fromtransitioning into the locked configuration. The actuatable unit 462 canbe a hydraulic strut, magnetorhealogical strut, gas strut, or otherdevice configured to allow one component to move relative to anothercomponent to selectively engage the arm member 42 as described herein.

Referring first to FIG. 12B, during normal operation and when the seat22 is in the lowered position, the arm limiter assembly 460 is in theopen configuration. The actuator 88 has been actuated to cause theelongate member 466 to retract into the open configuration. Turning toFIG. 12A, when wheelchair 10 is operated in an elevated mode—when theseat 22 is in the raised position—the arm limiter assembly 460transitions into locked configuration such that elongate member 466 isextended to block upward movement of the arm member 42. Accordingly, asthe seat 22 is elevated into the raised position, the forward arm member42 will have a limited range of rotation such that the wheelchair 410 isnot operable to ascend an obstacle O along the surface G. Referring nowto FIG. 12C, if front wheel 46 is on uneven ground surface G relative tothe drive wheels 32, such as when the wheelchair 410 begins ascent ofthe obstacle O, the arm member 42 is pivoted in an upward rotationaldirection B1 away from the first position 40A into the second position40 b that is rotationally different than the first position 40A. Becausethe arm member 42 is pivoted upwards, the stop member 44 a abuts theforward end 468 of the elongate member 466, preventing furtherprogression of the elongate member 466 into the locking configuration.Once wheelchair 410 has moved to a location on the surface G such thatthe front wheel 46 and the drive wheels 32 are on flat, level ground(i.e. the first position 40A), the actuatable unit 462 is configured toautomatically urge the elongate member 466 into the lockingconfiguration as shown in FIG. 12A.

Turning to FIGS. 13A and 13B, a powered wheelchair 510 according to analternative embodiment of the present disclosure is configured similarto the powered wheelchair 10 described above and illustrated in FIGS.1-5. Accordingly, the description below regarding wheelchair 510 willuse similar reference numerals to identify elements common to wheelchair10 and wheelchair 510, such as the frame 14, drive wheels 32 (notshown), lift mechanism 18 (not shown), seat 22, and control system 90and sensors. The forward arm assemblies 38 are as described above exceptfor the stop member. In the alternate embodiment, the powered wheelchair510 includes a pair of rearward arm assemblies 548 configured to pivotrelative to the frame 14 between a first position 540A when thewheelchair is operating on flat, level ground, and any number ofdifferent positions depending on if the wheelchair 510 is ascending anobstacle or initiating a decent down an incline. The rearward armassembly 548 is configured similar to the forward arm assembly 38describe above with reference to FIGS. 1-5 and this paragraph, andincludes an arm member 542, a rear wheel 47 coupled to the arm member542. The arm member 542 can include a stop member 544 a located in thesame place on the arm member 542 as stop member 44 a in poweredwheelchair 10. The stop member 544 a of the arm member 542 in theembodiment shown in FIGS. 13A and 13B is not rounded, but has a verticalcontact face and a horizontal top surface. The rearward arm assembly 548can move in a first rotational direction B1, e.g., upward, when thewheelchair 510 encounters an ascent, or a second rotational directionB1, e.g., downward, when the wheelchair 510 descends down an inclinedsurface.

The powered wheelchair 510 can be configured to limit relative movementof the rearward arm assembly 548 depending on the surface G thewheelchair 510 is operating along. For instance, the arm limiterassembly 560 has an open or first configuration in which the rearwardarm assembly 548 is moveable relative to frame 14 through a first rangeof rotation relative to the pivot axis P1, and a second or lockedconfiguration in which the rearward arm assembly 548 is prevented frommoving relative to the frame 14 as needed. For instance, in the lockedconfiguration, the arm limiter assembly 560 limits movement of the armassembly 546 through a second range of rotation that is less than thefirst range of rotation. It should be appreciated that the second rangeof rotation can include the rearward arm assembly 548 being rotationallyfixed relative to the frame 14. In the with the illustrated embodiment,the arm limiter assembly 560 shown in FIGS. 13A and 13B is configuredsimilar to the actuatable unit type arm limiter assembly 460 describedabove with reference to FIGS. 12A-12C. For example, the arm limiterassembly 560 includes an actuatable unit 562 coupled between the frame14 and the arm member 42. The actuatable unit 562 can have a housing 564and an elongate member 566 in the form of a rod or bar that extends outfrom the housing 564 and is movable with respect to the housing 564.FIG. 13B shows the elongate member 566 in its retracted position.However, it should be appreciated that wheelchair 510 can include anyoneof the arm limiter assemblies 60, 160, 260, and 360 as described above,or any arm limiter assembly 970 or 1470 described below.

Turning to FIGS. 14A and 14B, an alternative embodiments of a poweredwheelchair 610, the arm assembly 638 can be configured such that thewheel 46 or wheel axis A1 is translatable from the first position 40A tothe second position 40 b. In the embodiment shown in FIGS. 14A and 14B,powered wheelchair 610 is configured similar to the powered wheelchair10 described above and illustrated in FIGS. 1-5. Accordingly, thedescription below regarding wheelchair 610 will use similar referencenumerals to identify elements common to wheelchair 10 and wheelchair610, such as the frame 14, drive wheels 32 (not shown), lift mechanism18 (not shown), seat 22, arm limiter assembly 60, control system 90 andsensors. In an alternate embodiment, the powered wheelchair 610 includesa pair of forward arm assemblies 638 moveably coupled to a track 650that extends forwardly from the frame 14. The track 650 receives theproximal end 43 p (shown in dashed lines in FIGS. 14A and 14B) of thearm member 42. As illustrated, the proximal end 43 p is slidable withinthe track 650 via a bearing or roller mechanism (not shown) so that armmember 42 and wheel 46 are translatable along the track 650 upwardly ordownwardly relative to the frame 14 in a linear direction C. The lineardirection C can extend along the vertical direction V or may beangularly offset (as illustrated) with respect the vertical direction V.Accordingly, the arm assemblies 638 are coupled to the frame 14 suchthat the wheel 46 is translatable from between the first position 40Aand the second position 40A depending on the obstacle the wheel 46 istraversing. As noted above, operation of the arm assembly 638 is similarto operation of the arm assembly as the 008 patent noted above. Thedisclosure of the 008 Patent is incorporated by reference herein for allpurposes.

Continuing with FIGS. 14A and 14B, in alternative embodiments when thearm limiter assembly 60 is in the disengaged or open configuration thearm member 42 is translatable from the first position 40A through afirst range of motion. When the arm limiter assembly 60 is in theengaged or locked configuration, the arm member 42 is translatablethrough a second range of motion that is less than the first range ofmotion. While arm member 42 is translatable along the linear directionC, the positional difference of the wheel 46 in the first and secondpositions 40A and 40 b can have an angular component. The first position40A in FIG. 14A can be defined by first reference and second lines (notshown) that intersect the front wheel axis A1 and a forward-most point(651) located on the bottom 14 b of the frame 14. When the arm assembly638 translates the wheel 46 from the first position 40A to the secondposition 40 b, the second reference line defines an angle α1 (not shown)with the first reference line (not shown). Accordingly, the range ofmotion as described with respect to wheelchair 10 can correspond torange of rotation described with respect to the wheelchair 10.

FIGS. 8A-8D schematically illustrate various alternate embodiments ofthe translating member 176. As noted above, the translating member candefine any particular shape and/or surface profile to engage the armmember 42 during operation of the wheelchair. For instance, thetranslating member 192 a (FIG. 8A) defines first and second distalsurfaces 19 a and 198 a. The first surface 19 a is inclined at anoblique angle with respect to the axis 71 and the transverse direction6, the second surface 198 a is normal to the axis 71. Translating member192 b (FIG. 8B) defines a distal surface 198 b that is slightly curvedwith respect to the axis 71 and is inclined along the transversedirection 6. Translating member 192 c (FIG. 8C) defines a distal surface198 c that is curved with respect to the axis 71 and the surface extendsfrom the intersection of the axis 71 and surface 198 c toward edges 175a and 175 b. The leading surfaces 192 a, 192 b, and 192 c provide a rampor cam surface for engaging stop member 44 a. Translating member 192 dshown in FIG. 8D defines a distal surface 198 d that inclines toward therearward side 175 b of the rotatable member 170.

Turning to FIGS. 10A-10D, a powered wheelchair 210 according to analternative embodiment of the present disclosure is configured similarto the powered wheelchair 10,110 described above and illustrated inFIGS. 1-5 and 9A-9B. For instance, the powered wheelchair 210 includes aframe 14, drive wheels 32 coupled to the frame 14, a pair of forward armassemblies 38, a pair of rear arm assemblies 48, and a lift mechanism 18mounted to the frame 14 and configured to move the seat 22 between thelowered and raised positions 5R. The powered wheelchair 210 includescontrol system 90 and sensors 96 a, 96 b, 96 c similar to the wheelchair10 described above. Accordingly, the description below regardingwheelchair 210 will use similar reference signs to identify elementscommon to wheelchair 10 and wheelchair 210.

In accordance with the alternative embodiment, the powered wheelchair210 includes a pair of arm limiter assemblies 260 configured toselectively engage the forward arm assemblies 38 so as to inhibitrelative motion between the arm assemblies 38 and frame 14 in certaininstances during operation of the wheelchair 210. As illustrated inFIGS. 10A-10C, the arm limiter assembly 260 includes a first matingmember 264 supported by the arm assembly 38 and a second mating member268 supported by the frame 14 that is configured to mate with the firstmating member 264 only when the front wheel 46 and drive wheel 32 are onsubstantially flat, level ground, for instance when the arm member 42 isin the first position 40A (FIG. 10A, (similar to FIG. 3A).

Further, the arm limiter assembly 260 has a first or open configurationand a second or locked configuration. When the arm limiter assembly 160is in the open configuration as shown in FIGS. 10B and 10C, the firstand second mating members are not engaged and the arm assembly 38 canpivot through the first range of rotation. When the arm limiter assembly260 is in the second or locked configuration as shown in FIG. 10A, thefirst and second mating members are engaged with each other and the armassembly 38 is permitted to pivot through the second range of rotationthat is less than the first range of rotation. In the lockedconfiguration, the arm assembly 38 may still pivot to a limited extent,such as about 4 degrees or more (or less) away from the first position40A, because the mating member may be a slotted opening as explainedmore fully below. Alternatively, when the arm assembly 38 is in lockedconfiguration, the arm assembly 38 may not pivot at all away from thefirst position 40A. In the illustrated embodiment, the first matingmember 264 can be an aperture 272 and the second mating member 268 canbe a pin 276 that is configured to be received by the aperture 272. Itshould be appreciated, however, that the pin 276 can be supported by thearm assembly 38 and the aperture 272 supported by the frame 14 asdesired.

Continuing with FIGS. 10A-10D, the arm limiter assembly 260 includes anactuator 88, a linkage 284, and a pin assembly 286 coupled to linkage284. The pin assembly 286 includes a projection in the form a pin 276.In the illustrated embodiment, the pin 276 is the first mating member264. The arm limiter assembly 260 further includes a leg 274 fixed tothe arm member 42 and a plate 290 directly or indirectly coupled to theleg 274. The actuator 88 is in the position to maintain the pin 276 in aretracted position when the seat 22 is in the lowered position as shownin FIG. 10B to enable standard mode operation of the wheelchair. Theactuator 88 moves the pin 276 toward an engaged position whereby the pin276 is received by the aperture 272 when the controller 92 receives aninput to move the wheelchair 210 in the elevated motion mode and theseat 22 is in raised position as shown in FIG. 10A, or otherwise to lockthe front arm assembly 38.

The leg 274 is coupled to the arm member 42 proximate the pivot axis P1.As the arm member 42 rotates about the pivot axis P1, the leg 274 andthe plate 290 rotates about pivot axis P1. If the arm member 42 rotatesin a first rotation direction B1, the plate 290 rotates in the secondrotational direction B2 (FIG. 10B). The plate 290 includes a plate body292, a first surface 293, a second surface 294 opposed to the firstsurface 293, and a thickness T (not shown) that extends from the firstsurface 293 to the second surface 294. The plate can define an upperedge 295 and a lower edge 296. The plate is curved as it extends fromthe upper edge 295 to the lower edge 296. In addition, the plate 290defines at least one aperture 272 (FIG. 10C) that extends along adirection aligned or parallel to the thickness T. The aperture 272 issized and configured to receive the pin 276. More specifically, theplate 290 defines an aperture edge 275. The aperture edge 275 definesthe aperture 272. For instance, the aperture 272 can be an elongate slotelongate along a direction that is angularly offset with respect to thethickness either vertically with respect to forward-rearward direction.In other embodiments, the aperture can be circular, oval, or othershaped opening. Further, in alternative embodiments, the plate 290 isconfigured so that the pin 276 can ride along its surface until pin 276extends beyond an edge of the plate 290, such as the aperture edge 275or the lower edge in accordance with certain embodiments.

Continuing with FIGS. 10A-10D, in operation, controller 92 receives aninput to operate wheelchair 210 with the seat 22 in the raised position.In response, the controller 92 the causes the actuator 88 move the pin276 to move into an extended configuration toward the plate 290. Asshown in FIG. 10A, when the plate 290 is in an aligned position wherebythe aperture 272 is aligned with the pin 276, for example due toorientation of the arm member 42 along along flat, level ground G, thepin 276 extends into the aperture 272. When the pin 276 extends alongthe edge 275 into the aperture 272, the arm limiter assembly 260 is inthe locked configuration and movement of the arm member 42 is limited.If, however, the wheelchair 210 is traversing an obstacle O as shown inFIG. 10C and the seat 22 is in the lowered position, the arm member 42is pivoted upwards in a first rotational direction B1 and the plate 290moves downward toward the surface G. This in turn causes the plate 290to slide along the pin 276 such that the pin 276 is disposed adjacentthe surface 294 and positioned upward with respect to aperture edge 275.The plate 290 in this position blocks the pin 276 from extending intothe engaged position. Because the pin 276 is prevented from moving intothe engaged position in the aperture 272, the arm limiter assembly 260is prevented from transitioning into the second or locked configuration.The wheelchair 210 operates similar in some respects as to how thewheelchair 10, 110 operates when the arm limiter assembly 60, 160 isprevented from the transitioning to the locked configuration. Forinstance, the controller 92 may prevent operation of one or more aspectsof the wheelchair 210 in the elevated motion mode, for example, if thecondition of the arm limiter being in the locking condition is not met.After the wheelchair 210 traverses the obstacle O, the arm member 42pivots downwardly until the front wheel 46 and the drive wheels 32 areon flat, level ground as shown in FIGS. 10A and 10B. At this point, theplate 290 is moved upwardly sliding along the pin 276 until the pin 276is aligned with the aperture 272. The pin 276, via the actuator as notedabove, urges the pin 276 to extend along the aperture edge 275 into theaperture 272 placing the arm limiter assembly 260 in the lockedconfiguration. In this regard, the plate 290 is configured as a slidingmember.

The aperture 272 can be elongate along the direction the pin 276 slidesalong the plate 290. In such embodiments, the arm member 42 can pivotthrough the second range of rotation (less than the first range ofrotation) when the arm limiter assembly 260 is in the lockedconfiguration while pin 276 is located in slotted aperture 272. In thisregard, the plate 290 is configured to permit the arm member 42 to pivotup to 4 or 5 degrees away from the its initial position 40A even whenthe arm limiter 260 is in the locked configuration. This particularembodiment permits the arm assembly 38 to traverse slight obstacles andprevent the arm assembly 38 and the arm limiter assembly 260 fromlocking out, and permits arm assembly 38 to be limited in its downward(direction B2) movement. It should be appreciated, however, that theaperture 272 can have a diameter or other dimension that issubstantially equal to that of the pin 276 such that when the pin 276 isreceived by the aperture 272, the forward extending arm 42 is fixedrelative to the frame 14 with little or no movement.

As illustrated, the aperture 272 is disposed between the upper and lowerplate edges 295 and 296 such that the pin 276 can extend along theaperture edge 275. It should be appreciated, however, that plate 290 canbe configured without an aperture that receives the pint 276. Forinstance, the lower edge 296 can define a surface along which the pin276 extends along in order to transition the arm limiter assembly 260into the second configuration. In other words, the plate 290 can bemoved into the locked or an aligned position when pin 276 is moveablealong the lower edge 296 into its engaged position.

Turning to FIGS. 11A and 11B another embodiment of wheelchair 310 isschematically illustrated including an arm limiter assembly 360according to yet another alternate embodiment of present disclosure. Thepowered wheelchair 310 according to an alternative embodiment of thepresent disclosure is configured similar to the powered wheelchair 10described above. Accordingly, the description below regarding wheelchair310 will use similar reference signs to identify elements common towheelchair 10 and wheelchair 310, such as the frame 14, drive wheels 32(not shown), forward arm assemblies 38, rear arm assemblies 48 (notshown), lift mechanism 18 (not shown), seat 22, and control system 90and sensors.

Continuing with FIGS. 11A and 11B, the arm limiter assembly 360 can beused on any one of the wheelchairs 10, 110, or 210 described above.Further, the wheelchair incorporating arm limiter assembly 360 mayinclude similar components and operation characteristics described aboveexcept as noted otherwise. The arm limiter assembly 360 includes a disc362 or a segment of a disc that is supported by the frame 14 andoperatively engaged with arm assembly 38, and in particular to theproximal end 43 p of the arm member 42. The arm limiter assembly 260includes a caliper or clamp 370 that is supported by the frame 14 of thewheelchair 310 (frame and wheelchair not shown in FIGS. 11A and 11B).The clamp 370 can have a pair of moveable pads 372 a and 372 b spacedapart with respect to each other to define a gap 373. The gap 373 issized to receive a portion of the disc 362 therein such there is nocontact or light contact between the pads 372 a and 372 b and thecorresponding surfaces of disk 362. The clamp 370 is configured toselectively engage the disc 362 to thereby restrict movement of the disc362 and the arm member 42. For instance, the clamp 370 can be coupled tothe actuator 88 such that when the actuator 88 is activated, themoveable arms 372 a, 372 b move toward each other in directions 385 aand 385 b against opposite surfaces 364 and 366 of the disc 362. In afirst or open configuration, the disc 362 is moveable in the gap 373 andthe arm member 42 is moveable through the first range of rotation ormotion. When the wheelchair 310 operates in an elevated motion mode, theactuator 88 closes the clamp 370 tightening against the disc 362.Because the disc 362 is thus fixed to the arm member 42, movement of thearm member 42 is stopped. In an alternative embodiment, the disc 326 canhave a protrusion or stop 368 that is positioned to align between theclamp arms 372 a, 372 b in the gap 373 when the arm member 42 isrotationally different from the first position 40A by more than 4 or 5degrees. In this position, the disc 362, via the stop 368 in the gap373, prevent the clamp arms 372 a, 372 b from transitioning into theclamped configuration against the surface 364 and 366, which in turnprevents arm limiter assembly 360 from locking movement of the disc andarm member 42.

Turning to FIGS. 12A-12C, a wheelchair 410 is illustrated including anarm limiter assembly 460 according to yet another alternate embodiment.The powered wheelchair 410 is configured similar to the poweredwheelchair 10 described above and illustrated in FIGS. 1-5. Accordingly,the description below regarding wheelchair 410 will use similarreference signs to identify elements common to wheelchair 10 andwheelchair 410, such as the frame 14, drive wheels 32 (not shown),forward arm assemblies 38, rear arm assemblies 48 (not shown), liftmechanism 18 (not shown), seat 22, and control system 90 and sensors. Inthe alternative embodiment, the arm limiter assembly 460 can beconfigured as rear-ward arm limiter assembly.

FIGS. 12A, 12B, 12C schematically illustrate the arm limiter assembly460 in the locking configuration 71 c (FIG. 12A), the open configuration71 o (FIG. 12B), and a blocked configuration 71 o (FIG. 12C), wherebythe arm member 42 is preventing transition of the arm limiter assembly460 from the open configuration 71 o into the locking configuration 71c. In the illustrated embodiment, the arm limiter assembly 460 can beconfigured as rearward arm limiter assembly. The arm limiter assembly460 includes an actuatable unit 462 coupled between the frame 14 and thearm member 42. The actuatable unit 462 can have a housing 464 and anelongate member 466 in the form of a rod or bar that extends out fromthe housing 464 and is movable with respect to the housing 464. FIG. 12Bshows the elongate member 466 in its retracted position. The extendedposition of elongate member 466 is shown in dashed lines in FIG. 12B.The elongate member 466 defines an end 468 spaced from the housing 464along a direction 469 that is aligned with and parallel to the forwarddirection F of the wheelchair 410. The arm limiter assembly 460 has 1) afirst or open configuration, whereby the elongate member 466 isretracted partially into the housing 464 such that the arm member 42 ispivotable through the first range of rotation as discussed above, 2) asecond or locked configuration where the elongate member 466 abuts thestop 44 a of the arm member 42, thereby preventing the arm member 42from pivoting upwardly with respect to the frame 14, and 3) a blockedconfiguration where the arm limiter assembly is prevented fromtransitioning into the locked configuration. The actuatable unit 462 canbe a hydraulic strut, magnetorhealogical strut, gas strut, or otherdevice configured to allow one component to move relative to anothercomponent to selectively engage the arm member 42 as described herein.

Referring first to FIG. 12B, during normal operation and when the seat22 is in the lowered position, the arm limiter assembly 460 is in theopen configuration. The actuator 88 has been actuated to cause theelongate member 466 to retract into the open configuration. Turning toFIG. 12A, when wheelchair 10 is operated in an elevated mode—when theseat 22 is in the raised position—the arm limiter assembly 460transitions into locked configuration such that elongate member 466 isextended to block upward movement of the arm member 42. Accordingly, asthe seat 22 is elevated into the raised position, the forward arm member42 will have a limited range of rotation such that the wheelchair 410 isnot operable to ascend an obstacle O along the surface G. Referring nowto FIG. 12C, if front wheel 46 is on uneven ground surface G relative tothe drive wheels 32, such as when the wheelchair 410 begins ascent ofthe obstacle O, the arm member 42 is pivoted in an upward rotationaldirection B1 away from the first position 40A into the second position40 b that is rotationally different than the first position 40A. Becausethe arm member 42 is pivoted upwards, the stop member 44 a abuts theforward end 468 of the elongate member 466, preventing furtherprogression of the elongate member 466 into the locking configuration.Once wheelchair 410 has moved to a location on the surface G such thatthe front wheel 46 and the drive wheels 32 are on flat, level ground(i.e. the first position 40A), the actuatable unit 462 is configured toautomatically urge the elongate member 466 into the lockingconfiguration as shown in FIG. 12A.

Turning to FIGS. 13A and 13B, a powered wheelchair 510 according to analternative embodiment of the present disclosure is configured similarto the powered wheelchair 10 described above and illustrated in FIGS.1-5. Accordingly, the description below regarding wheelchair 510 willuse similar reference numerals to identify elements common to wheelchair10 and wheelchair 510, such as the frame 14, drive wheels 32 (notshown), lift mechanism 18 (not shown), seat 22, and control system 90and sensors. The forward arm assemblies 38 are as described above exceptfor the stop member. In the alternate embodiment, the powered wheelchair510 includes a pair of rearward arm assemblies 548 configured to pivotrelative to the frame 14 between a first position 540A when thewheelchair is operating on flat, level ground, and any number ofdifferent positions depending on if the wheelchair 510 is ascending anobstacle or initiating a decent down an incline. The rearward armassembly 548 is configured similar to the forward arm assembly 38describe above with reference to FIGS. 1-5 and this paragraph, andincludes an arm member 542, a rear wheel 47 coupled to the arm member542. The arm member 542 can include a stop member 544 a located in thesame place on the arm member 542 as stop member 44 a in poweredwheelchair 10. The stop member 544 a of the arm member 542 in theembodiment shown in FIGS. 13A and 13B is not rounded, but has a verticalcontact face and a horizontal top surface. The rearward arm assembly 548can move in a first rotational direction B1, e.g., upward, when thewheelchair 510 encounters an ascent, or a second rotational directionB1, e.g., downward, when the wheelchair 510 descends down an inclinedsurface.

The powered wheelchair 510 can be configured to limit relative movementof the rearward arm assembly 548 depending on the surface G thewheelchair 510 is operating along. For instance, the arm limiterassembly 560 has an open or first configuration in which the rearwardarm assembly 548 is moveable relative to frame 14 through a first rangeof rotation relative to the pivot axis P1, and a second or lockedconfiguration in which the rearward arm assembly 548 is prevented frommoving relative to the frame 14 as needed. For instance, in the lockedconfiguration, the arm limiter assembly 560 limits movement of the armassembly 546 through a second range of rotation that is less than thefirst range of rotation. It should be appreciated that the second rangeof rotation can include the rearward arm assembly 548 being rotationallyfixed relative to the frame 14. In the with the illustrated embodiment,the arm limiter assembly 560 shown in FIGS. 13A and 13B is configuredsimilar to the actuatable unit type arm limiter assembly 460 describedabove with reference to FIGS. 12A-12C. For example, the arm limiterassembly 560 includes an actuatable unit 562 coupled between the frame14 and the arm member 42. The actuatable unit 562 can have a housing 564and an elongate member 566 in the form of a rod or bar that extends outfrom the housing 564 and is movable with respect to the housing 564.FIG. 13B shows the elongate member 566 in its retracted position.However, it should be appreciated that wheelchair 510 can include anyoneof the arm limiter assemblies 60, 160, 260, and 360 as described above,or the arm limiter assemblies 660, 760, 860, or 760 described below.

Turning to FIGS. 14A and 14B, a wheelchair 710 is illustrated includingan arm limiter assembly 760 according to yet another alternateembodiment. The powered wheelchair 710 is configured similar to thepowered wheelchair 10 described above and illustrated in FIGS. 1-5.Accordingly, the description below regarding wheelchair 710 will usesimilar reference signs to identify elements common to wheelchair 10 andwheelchair 710, such as the frame 14, drive wheels 32 (not shown),forward arm assemblies 38, rear arm assemblies 48 (not shown), liftmechanism 18 (not shown), seat 22, and control system 90 and sensors. Inaccordance with the alternative embodiment, the arm limiter assembly 760can be configured as rear-ward arm or forward arm limiter assembly asnoted above.

FIGS. 14A and 14B schematically illustrates operation of the arm limiterassembly 760. The arm limiter assembly 760 can have a first or openconfiguration where the arm member 42 has a first range of rotation, anda second or locked configuration where the arm member has a second rangeof rotation that is smaller than the first range of rotation. The armlimiter assembly 760 can include an actuatable unit 770 and an actuator88. The wheelchair 710 can further include one or more the arm positionsensors described above to detect the position of the arm member 42relative the frame 14. The actuatable unit 770 is coupled to the frame14 and the arm member 42.

Continuing with FIGS. 14A and 14B, the actuatable unit 770 can beconfigured as a strut and may include a first component or housing 772and a second component or piston 774 moveably coupled to the firstcomponent 772. The second component includes a rod or bar that extendsout from the housing 772 and is movable with respect to the housing 772.The strut 770 includes proximal end (not numbered) and a distal end (notnumbered) spaced from the proximal end along the axis 71. The proximalend of the strut 770 is pivotably coupled to frame 14 via connector 776.The distal end of the strut 770 is pivotably coupled to arm member 42via connector 778. The pivotable connections between the actuatable unit770 and the arm member 42 and frame 14 account for the pivotableconnection of the arm member 42 to the frame 14 as illustrated. Fortranslating type arm members (See FIGS. 15A and 15B), it should beappreciated that the actuatable unit 770 may be pivotably connected tothe frame 14 only. Further, the actuatable unit 770 defines a length 780that extends from a point defined by connector 776 to the point (notshown) defined by connector 778. As the arm member 42 pivots upwardlyaway from the first position 40A (FIG. 14A) into the second position 40b (FIG. 14B), the length 780 decreases to a second, shorter length 780′.If the arm member 42 pivots downwardly away from the position 40A, thelength 780 will increase. During normal operation when the seat is inthe lowered position, the actuatable unit 770 is in the first or openconfiguration such that its length 780 can be adjusted to account formovement of the arm member 42 in an upward and downward direction. Whenthe seat is moved into the raised configuration, the actuator 88 cancause the strut to lock or increase resistance to length adjustment,thereby inhibiting the ability of the actuatable unit 770 to compress orretract based on the position of the arm member 42. The actuatable unit770 can be a hydraulic strut, magnetorhealogical strut, gas strut, orother device configured to allow one component to move relative toanother component to selectively engage the arm member as describedherein.

Turning to FIGS. 15A-15C, an alternative embodiments of a poweredwheelchair 810. In the embodiment shown in FIGS. 15A-15C, poweredwheelchair 810 is configured similar to the powered wheelchair 10described above and illustrated in FIGS. 1-5. Accordingly, thedescription below regarding wheelchair 610 will use similar referencenumerals to identify elements common to wheelchair 10 and wheelchair810, such as the frame 14, drive wheels 32 (not shown), lift mechanism18 (not shown), seat 22, arm assembly 38, control system 90 and sensors.In the illustrated embodiments, the powered wheelchair includes an armlimiter assembly 860 configured to progressive restrict the range ofrotation which the arm member 42 and wheel axis A1. The arm limiterassembly 860 includes a rotatable member 870 rotatably mounted to theframe 14, an actuator 88, a transfer linkage 84 coupled to actuator 88,and a biasing member, such as spring 80 operably connected to thelinkage 84 and the rotatable member 870. The actuator 88 is operable tocause movement of the transfer linkage 84, which in turn causes movementof the rotatable member 870 similar to the embodiment of the arm limiterassembly 60 described above.

Continuing with FIG. 15A, the rotatable member 870 is configured as acam and defines a body 874 having a proximal end 874 a rotatably coupledto the frame 14 at pivot axis P2, and a distal end 874 b opposed toproximal end 874 a along an axis 71. The proximal end 874 a is rotatablycoupled to the frame 14 at pivot axis P2. The body 874 includes aforward edge 875 a and a rearward edge 875 b opposed to the forward edge875 a. The body 874 defines a curved distal edge 878. As illustrated,the curved distal edge 878 includes a surface that is curved withrespect to the axis 71 as it extends from the forward edge 875 a to therearward edge 875 b. The curved distal edge 878 is configured toselectively engage the stop member 44 a depending on the rotationalposition of the rotatable member 870 about pivot axis P1 and theposition of the arm member 42.

As illustrated, the curved distal edge 878 progressively restricts therange of rotation (or motion) which the arm member 42 can move relativeto the frame 14. For instance, when the rotatable member 870 is in afirst orientation 879 a, the rotatable member 870 permits the arm member42 to move through a first range of rotation that is equivalent to fullrange of movement of the arm member 42 and wheel axis A1 relative to theframe 14. As shown in FIG. 15A, the distal contact edge 878 isdisengaged from the arm member 42 when the rotatable member 870 is inthe first orientation 879 a.

As shown in FIG. 15B, when the rotatable member 870 is in a secondrotational orientation 879 b that is slightly offset in a rotationaldirection (e.g. clockwise in FIGS. 3A-4D) with respect to the firstrotational orientation 879 a, the distal contact surface 878 is advancedforward to engage the stop member 44 a when the arm member 42 is in aselect positioned that may or may not be the first position 40A asdescribed above. In the second rotational orientation 879 b, therotatable member 870 permits the arm member 42 to move through a secondrange of rotation that is less than the first range of rotation. Asshown in FIG. 15C, when the rotatable member 870 is in a thirdrotational orientation 879 c that is further offset clockwise withrespect to the second rotational orientation 897 b, the rotatable member870 permits the arm member 42 to move through a third range of rotationthat is less than the second range of rotation. In the thirdorientation, the distal contact surface 878 is further advance so thatthe portion of the contact surface rearward of the axis 71 abuts thestop member 44 a. As shown comparing FIGS. 15A and 15B, the orientationof the rotatable member can limit the ability of the arm assembly toascend an obstacles of difference elevations. The actuator 88 andbiasing member 80 can control orientation of the rotatable member 870.For instance, if the controller receives an instruction to raise theseat, a control signal is sent the actuator 88. In response the controlsignal, the actuator 88 urges the rotatable member 870 into a desiredorientation.

Turning to FIGS. 16A and 16B, an alternative embodiments of a poweredwheelchair 610, the arm assembly 638 can be configured such that the armmember 42 and wheel axis A1 is translatable from the first position 40Ato the second position 40 b. In the embodiment shown in FIGS. 16A and16B, powered wheelchair 610 is configured similar to the poweredwheelchair 10 described above and illustrated in FIGS. 1-5. Accordingly,the description below regarding wheelchair 610 will use similarreference numerals to identify elements common to wheelchair 10 andwheelchair 610, such as the frame 14, drive wheels 32 (not shown), liftmechanism 18 (not shown), seat 22, arm limiter assembly 60, controlsystem 90 and sensors. In the alternate embodiment, the poweredwheelchair 610 includes a pair of forward arm assemblies 638 moveablycoupled to a track 650 that extends forwardly from the frame 14. Thetrack 650 receives the proximal end 43 p (shown in dashed lines in FIGS.16A and 16B) of the arm member 42. As illustrated, the proximal end 43 pis slidable within the track 650 via a bearing or roller mechanism (notshown) so that arm member 42 and wheel 46 are translatable along thetrack 650 upwardly or downwardly relative to the frame 14 in a lineardirection C. The linear direction C can extend along the verticaldirection V or may be angularly offset (as illustrated) with respect thevertical direction V. Accordingly, the arm assemblies 638 are coupled tothe frame 14 such that the wheel 46 is translatable from between thefirst position 40A and the second position 40A depending on the obstaclethe wheel 46 is traversing. As noted above, operation of the armassembly 638 is similar to operation of the arm assembly as the 008patent noted above. The disclosure of the 008 Patent is incorporated byreference herein for all purposes.

Continuing with FIGS. 16A and 16B, in alternative embodiments when thearm limiter assembly 60 is in the disengaged or open configuration thearm member 42 is translatable from the first position 40A through afirst range of motion. When the arm limiter assembly 60 is in theengaged or locked configuration, the arm member 42 is translatablethrough a second range of motion that is less than the first range ofmotion. While arm member 42 is translatable along the linear directionC, the positional difference of the wheel 46 in the first and secondpositions 40A and 40 b can have an angular component. The first position40A in FIG. 16A can be defined by first reference and second lines (notshown) that intersect the front wheel axis A1 and a forward-most point(651) located on the bottom 14 b of the frame 14. When the arm assembly638 translates the wheel 46 from the first position 40A to the secondposition 40 b, the second reference line defines an angle α1 (not shown)with the first reference line (not shown). Accordingly, the range ofmotion as described with respect to wheelchair 10 can correspond torange of rotation described with respect to the wheelchair 10.

FIGS. 17-43 illustrate alternative embodiments of the wheelchairconfigured to selectively engage the anti-tip arms based on the positionof the anti-tip arm assemblies, position and/or configuration of the armlimiter assemblies and seat position, such as raised, lowered, titled,etc. In the embodiments illustrated in FIGS. 17-43, arm limiterassemblies an transition between the locked configurations where themovement of the anti-tip arm is limited, and an open configuration whereoperation of the anti-tip arm assembly is not inhibited. Further,embodiments described below use downward forces of the seat moving intoa lowered position to urge arm limiter assemblies into specificconfigurations, such as an open configuration.

Turning to FIGS. 17-18B, a powered wheelchair 910 according to anotherembodiment of the present disclosure is similar to the poweredwheelchair 10 described above and illustrated in FIGS. 1-5. Accordingly,the description below regarding wheelchair 910 will use similarreference numerals to identify elements common to wheelchair 10 andwheelchair 910, such as the frame 14, drive wheels 32, control system 90and sensors, input device 8, and lift mechanism 18.

With reference to FIGS. 19 and 20, in some embodiments powered wheelchair 910 also includes a linkage assembly 950 operably coupled to thelift mechanism 18 and to one or more arm limiter assemblies 970. The armlimiter assemblies 970, also referred to as limiters, are coupled to theframe 14 and configured to selectively engage the anti-tip assemblies938 so as to inhibit relative motion between wheels 946 of the anti-tipassemblies 938 and the frame 14 in certain modes of operation. Each armlimiter assembly 970 may include a crank 974, and elongate member 972, astop 982 and resilient members 978 and 980. Inhibiting relative motionbetween wheel 46 of the anti-tip assemblies 938 and the frame 14 canlimit certain operations of the wheelchair 10 in order to improvestability and occupant safety as described above. Additionally oralternatively, operation of the limiter assembly 970 may be limited,impaired or delayed when the wheelchair 910 is in certain conditions.For example, the limiter assembly 970 may be configured to transitionbetween the disengaged configuration and the engaged or lockingconfiguration based on a first position or spatial location of the wheel46 (or 47), and may be prevented from transitioning from the disengagedposition to the locking configuration when the wheel 46 is a secondposition or spatial location that is different than the first spatiallocation or position be predetermined amount. Further, operation of thelimiter assembly 970 may be dependent upon or linked to the position ofthe seat (e.g., the position of the seat relative to the frame 14 or aground surface upon which the wheelchair is sitting). In someembodiments, the limiter assembly 970 is configured to automaticallyrestrict movement of the arm member 942 and wheel axis A1 when the seatis in a raised position. For example, a rod assembly and/or cableassembly may operably the arm limiter assembly 970 to the seat 22. Thearm limiter assembly 970 and linkage assembly 950 will be furtherdescribed below.

Turning to FIGS. 18A-18B, the wheelchair frame 14 supports the drivewheels 32, anti-tip assemblies 938, rear assemblies 948, the liftmechanism 18 and seat 22. As illustrated, the frame 14 includes a frontend 14 f, a rear end 14 r spaced from the front end 14 f in rearwarddirection R, a bottom 15 b, and a top 15 t spaced from the bottom 15 bin the vertical direction V. The frame 14 further supports one or morebatteries 36 a and 36 b, the drive motors 34, and various controlmodules that are used to operate the powered wheelchair 10. The framealso supports, directly or indirectly, the arm limiter assemblies 970described below.

The powered wheelchair 910, in some embodiments, includes a liftmechanism 18 with left and right scissor assemblies 916 according toanother embodiment. The scissor assembly 916 is similar to the scissorassembly 16 described above. For example, the scissor assembly 916 isoperatively connected to frame 14, a lift motor 20, and a lift controlsystem that can be used to boost lifting force and lift rate. Likescissor assembly 16, the scissor assembly 916 illustrated in FIGS.18A-18B includes first and second scissor bars 17 and 19 that extendbetween the seat 22 and the frame 14 and are rotatably coupled to eachother. The first scissor bar 17 has an upper end 17 u moveably coupledto the seat 922 and a lower end 17 l that is rotatably fixed to asupport rack 14 s that is attached to or forms a monolithic extension ofthe top 15 t of the frame 14. As illustrated, the upper end 17 u extendspartly into an elongate slot 921 defined in the seat frame 923 a agenerally forward location along the seat frame 923 a (as compared toseat frame 23 a in FIG. 2A). The slot 921 accommodates forward-rearwardmovement of the upper end 17 u as the scissor assembly collapses and theseat 922 is lowered. The second scissor bar 19 includes an upper end 19u that is rotatably fixed to the seat 922. The lower end 191 of thescissor bar 19 is moveably coupled to the frame 14 via the support rack14 s so as to move along the support rack 14 s in a similar manner as 17u moves along the slot 921. As described above with respect thewheelchair 10, the motor 20 causes the lower end 191 to translate alongthe frame 14 as the upper end 17 u of the second scissor bar 17translates along the elongated slot 921, which lowers the seat 22 towardthe frame 14. The seat 922 includes a base (not shown) situated in theseat frame 923 a and a seat back (not shown). The seat frame 923 adefines a seat bottom 923 b that faces the top 15 t of frame 14 and isspaced apart a distance D from the top 15 t. As noted above, the liftmechanism is not limited to scissor type mechanisms or the use ofscrew-type actuators as described above.

The powered wheelchair 910 includes at least one and generally a pair ofanti-tip arm assemblies 938 according to an alternative embodiment andis illustrated in some detail in FIGS. 18C and 8D. FIG. 23 illustrates aside view of the anti-tip arm assembly 938. The anti-tip arm assembly938, sometimes referred to as an arm assembly, includes an arm member942 coupled to the frame 14, a front wheel 46 coupled to a distal end 43d of arm member 942, and at least one stop member 944 positioned alongan upper side of the arm member 942. As will other embodiments of thestop member, such as stop member 44 a, the stop member 944 illustratedin FIGS. 18C and 18D engages with the arm limiter assembly 970 based onthe positions of assembly 970 and arm assembly 938 during operation ofthe wheelchair 910. The anti-tip arm assembly 938 is coupled to theframe 14 so as to permit upward (or downward) movement of the wheel 46along both the vertical direction V and the forward-rearward directionF-R when the wheel 946 encounters an obstacle.

Continuing with FIGS. 18C and 18D, the arm member 942 can be configuredsimilar to the arm member 942 described above. For ease of illustration,features common to arm member 42 and 942 will use similar referencesigns. In the illustrated embodiment, the arm member 942 has a proximalend 43 p and a distal end 43 d spaced from the proximal end 43 p alongan axis 45. The arm member 942 further includes an inner side plate 943i, an outer side plate 943 o, and a plate 943 h extending from the sideplate 943 i to the side plate 943 o. The plates 943 i, 943 o, and 943 hdefine a channel. The side plates 943 i and 943 o are connected to aproximal housing 43 m. The inner side plate 943 i has an upper side orsurface that is contoured or stepped to selective engage the arm limiterassembly 970. The outward side plate 943 o includes the stop member 944,configured as contoured stop surface. The illustrated arm member 942with pair of side plates 943 i and 943 o is exemplary only. The frontwheel 46 is coupled to the distal end 43 d of the arm member 942 and maybe rotatable about the front wheel axis A1. As illustrated, for examplein FIG. 18A, when the wheel chair is on level ground, the front wheel 46is generally in contact with ground or surface G during normaloperation. It should be appreciated that the front wheel 46 can be ananti-tip wheel that is raised or otherwise spaced from the ground orsurface G during normal operation in a configuration that does notinclude a caster. Further, the wheelchair 910 can be considered a “lowpivot” axis wheelchair, such as that disclosed the 992 Patent andincorporated by reference into this disclosure. However, the wheelchair910 is not required to be a low-pivot axis wheelchair.

Turning to FIGS. 18A and 18B, the arm assembly 938 is moveably coupledto the frame 14 such that the spatial location of the arm member 42 andwheel axis A1 is repositionable relative to the frame 14 uponencountering an obstacle. In the embodiment illustrated, the armassembly 938 is pivotably coupled to the frame 14 such that wheel 46pivots about a pivot axis P1. Pivotable coupling of the arm member 942to frame 14 is exemplary only. The arm member 942 can be coupled toframe 14 in other ways in order to permit translation of the wheel 46upward (or downward) relative to frame 14 as described above. Forexample, arm member 942 can be coupled to the frame 14 such that thewheel 46 translates relative to the frame 14 along a linear directionthat is aligned with or angularly offset with respect to the verticaldirection V and forward-rearward direction F-R.

As shown FIGS. 18A, 18B and 24, the arm assembly 938 is coupled to frame14 such that the arm member 942 (or wheel 46) is pivotable about theaxis P1 along a rotational direction C1-C2 through a predetermined rangeof rotation or motion. As shown in FIG. 24, the arm assembly 38 isconfigured so that arm assembly 938 and wheel axis A1 are repositionablefrom the first position 40A relative to the frame 14 when the wheelchairis operating on flat, level ground, to a second position 40B (FIGS. 27and 28) that is different that the first position 40A along the verticaldirection V and forward-rearward direction F-R, as described in detailabove. When the wheelchair 10 encounters an obstacle O (FIG. 27), thearm member 942 pivots upwardly about axis P1 in a first rotationaldirection C2 and when the front wheel 46 encounters a descent, the armmember 942 pivots downwardly about the axis P1 in a second rotationaldirection C1. When viewing FIGS. 24 and 27, the first rotationaldirection C2 is counterclockwise and the second rotational direction C1is clockwise. The extent that the arm member 942 pivots or is allowed topivot about the pivot axis P1 is referred to herein as the range ofrotation as described above.

Each arm assembly 938 has a range of rotation or motion that is theextent the arm member 942 is capable of repositioning the wheel 46 whenencountering an obstacle. The first range of motion is typically thefull extent the arm member 942 can move relative to the frame 14. Thesecond range of motion is the extent the arm member 942 can moverelative the frame 14 when inhibited or prevented from moving by the armlimiter assembly 970. The lines I1 and I2 illustrated in FIGS. 24 and 27define an angle α2 that is about zero (0) degrees when the arm assembly38 is in the first position 40A. The second range of rotation of the armmember 942 is generally defined and constrained to be less than thefirst range of rotation.

Continuing with FIGS. 18C and 18D and as described above, the arm member942 includes at least one stop member 944. The stop member 944 islocated on the outer side 943 i or is part of the arm member 942 so asto selectively engage the arm limiter assembly 970, as further detailedbelow. The stop member 944 includes a first or upper engagement surface944 u on a portion of the outer side of the arm member 942. The upperengagement surface 944 u faces upwardly opposite the ground surface Gwhen the arm member 942 is in the first position 40A (FIG. 24). The stopmember 944 also includes a second or rear surface 944 r on a rearwardside of stop member 944 located on the outer side 943 i. The rearsurface 944 r faces the rearward direction R toward the pivot P1 whenthe arm member 942 is in the first position 40A (FIG. 24). The stopmember 944 is shown as part of a curved or contoured surface of the armmember 942. In other embodiments, the surface need not be curved orcontoured but may be generally flat with protrusions that definepositions with which the arm limiter engages with the anti-tip arm, asdescribed. Further, the stop member 944 can be a projection or partattached to one or both sides 943 i and 943 o of the arm member 942.

The arm limiter assembly 970 illustrated in configured to transitionbetween an open configuration and a locking configuration depending onthe elevation of the seat. Turning to FIGS. 19, 20, and 24-26, the armlimiter assembly 970 has a first or open or disengaged configuration asshown FIGS. 19 and 24, in which the arm member 942 and wheel axis A1 aremovable from the first position 40A to a second position 40B through thefirst range of motion. The second or engaged or locked configuration asshown in FIGS. 20 and 25-26, in which the arm member 942 is moveablethrough the second range of motion that is smaller than the first rangeof rotation. In the particular examples illustrated, when the armlimiter assembly 970 is in the locked configuration, the arm member 942can only rotate about its pivot axis P1 through a smaller range ofrotation before it contacts, and is stopped, by the arm limiter assembly970. Because of small obstacles or uneven surfaces, it may be desirablein some embodiments to allow the limiter assembly 970 to move to theengaged configuration even when the arm member 942 is slightly raised.The arm limiter assembly 970 may be shorter than the distance providedfor the arm limiter assembly 970 when the wheelchair is on a flat levelground surface. In one exemplary embodiment, the arm limiter assembly970 is prevented from transitioning into the second configuration whenthe position of the wheel 46 is different from the first position 40Arelative to the frame 14 by more than four (4) degrees, for instance. Inone embodiment, limiter assembly 970 is prevented from transitioninginto the second configuration when the position of the arm member 942and wheel axis A1 is different from the first position 40A relative tothe frame 14 by more than one degree. In one embodiment, limiterassembly 970 is prevented from transitioning into the secondconfiguration when the position of the arm member 942 and wheel axis A1is different from the first position 40A relative to the frame 14 bymore than two degrees. In one embodiment, limiter assembly 970 isprevented from transitioning into the second configuration when theposition of the arm member 942 and wheel axis A1 is different from thefirst position 40A relative to the frame 14 by more than three degrees.In other exemplary embodiments, the arm limiter assembly 970 isinhibited from transitioning into the second configuration when theposition of the arm assembly is rotationally different from the firstposition 40A relative to the frame 14 by less than four (4) degrees.

Referring to FIGS. 7, 19, 20, and 23, the arm limiter assembly 970includes a crank 974 and an elongate member 972, both of which arerotatably coupled to the frame 14 at a rotation point 69 (alsodesignated as pivot axis P2). The elongate member 972 is similar to therotatable member 170 described above and shown in FIG. 7. Similarreference signs will be refer to features common to elongate member 972and elongate member 972. The arm limiter assembly 970 also includes afirst resilient member 978 that couples the crank 974 to the frame 14and a second resilient member 980 attached between the crank 974 and theelongate lever 972. Each component of the arm limiter assembly 970 willdescribed next. As shown in FIG. 24 a portion of the crank 94 iselongate along an axis 61 a and the elongate member 972 is elongatealong an axis 71. In the illustrated embodiment, the axes 61 a and 71intersect at a rotation point 69, which can define the pivot axis P2.The axis 61 a and axis 71 can define angle E with represents a relativeposition of the crank 974 and elongate member 972 as the arm limitertransitions between the open and locked configurations, as will befurther detailed below.

The crank 974 is configured to engage linkage assembly 950 and rotateabout pivot axis P2 in response to that engagement. Referring to FIG.23, the crank 974 includes a first leg 975 and a second leg 976 fixed tothe leg 975 so that both legs 975 and 976 rotate together about pivotaxis P2. In this case, legs 975 and 976 can be formed as a monolithicpiece and is exemplary only. The first and second legs can be separatelegs coupled to each other in any manner so the legs 975 and 976 rotatetogether. As illustrated, the first and second legs 975 and 976 areelongate along respective leg axes 61 a and 61 b. The first leg 975 hasa free end 77 opposite to the rotation point 69 along the axis 61 a. Thefirst leg 975, in particular free end 77, is configured to be engaged bythe contact head 964 of the linkage assembly 950 as will be furtherdetailed below. The second leg 976 includes a free end 979 opposite therotation point 69 along the axis 61 b.

Continuing with reference to FIGS. 7 and 23, the elongate member 972 isconfigured to selectively contact the arm member 942. The elongatemember 972 includes a body 173 b (FIG. 7), a mechanical stop 982 (FIG.23), a translating member 176 moveably coupled to the body 173 b, and abiasing member 178 disposed between the translating member 176 and thebody 173 b. As illustrated, the translating member 176 is moveable alongthe axis 71 in response to upward movements of the arm member 942. Thebiasing member 178 is illustrated as a spring 170 c as noted above. Theelongate lever body 173 b has a proximal end 174 a, a forward side 175a, and a rearward side 175 b opposed to the forward side 175 a. Theproximal end 174 a of body 173 b is coupled to the frame 14 at theconnection point 69. A lower end the crank 974 overlies a proximal end177 a of the body 173 b.

The elongate lever 972 carries the mechanical stop 982. The mechanicalstop 982 can be positioned along the body 173 b proximate the rotationpoint 69 to restrict the extent of relative rotation of the elongatelever 972 to the crank 974. The stop member 982 protrudes from lever 972and is positioned to abut a lower end (not numbered) of the crank 974.As illustrated, the stop 982 is disposed toward the forward side 175 a(FIG. 7) and spaced from axis 71 of body 173 b. The stop 982 limitsrotation of the elongate lever 972 relative to the crank 974 in therotational direction C1 when the stop 982 abuts the crank 974. Further,the stop 982 along with second resilient member 980 causes the elongatelever 972 to rotate with the crank 974 about pivot axis P2 in therotational direction C1 in response to forces applied to crank leg 975.The stop member 982 can be a projection, pin, bolt, or any device thatcan restrict rotation of the lever 972 relative to crank 974. When thelinkage assembly 950 engages crank leg 975, rotation of crank 974 inrotation direction C1 causes rotation of the lever 972 in rotationaldirection C1.

As noted above, the arm limiter assembly 970 includes first and secondresilient members 978 and 980, configured as springs, that can maintainthe relative positions of the crank 974 and elongate lever 972 duringoperation of the wheelchair, such as when the seat changes elevation. Asshown in FIG. 24, the first resilient member 978 connects the firstcrank leg 975 to the frame 14, placing a biasing force on the crank 974and elongate lever 972 in rotational direction C2. The first resilientmember 978 is attached to the first leg 975 at a location between therotation point 69 and free end 977. While the attachment location isproximate the rotation point 69, the specific location where resilientmember 978 is attached to the leg 975 can be adjusted to modify thebiasing characteristics of the arm limiter assembly 970. For instance,attaching the spring 978 closer toward the free end 977 may permit asmaller sized, or less stiff spring to be used at that location.Attaching the resilient member 798 closer toward the rotation point maypermit a larger sized and stiffer spring to be used.

The second resilient member 980 attaches to the crank leg 976 toelongate lever 972. As illustrated, the second resilient member 980 isattached to leg 976 at a first attachment point (not numbered) and tothe elongate lever 972 at a second attachment point (not numbered). Thefirst and second attachment points are aligned along an axis 81 (FIG.23) that intersects the axis 71 of the elongate lever 972. The secondresilient member 80 biases the lever 972 toward the leg 976 at leastpartly along the axis 81, urging the mechanical stop 982 into abuttingrelation against the crank 974 when the arm limiter assembly 970 isrotating in rotational direction B2.

In the illustrated embodiment, preferably the first resilient member 978applies a first biasing force between the frame 14 and crank 974 and thesecond resilient member 980 applies a second biasing force between theleg 976 and elongate lever 972 that is greater than the first biasingforce. The magnitude of the second biasing force relative to the firstbiasing force maintains the relative positions of the crank 974 andelongate lever 972 as the crank 974 and elongate lever 972 rotate alongthe rotational direction C1 about pivot axis P2. More specifically, thesecond resilient member 80 urges the stop member 982 against the crank974 so that the crank 974 and elongate lever 972 rotate together alongrotational direction C1.

Turning to FIGS. 19-22, the wheelchair 910 can further include a linkageassembly 950 that causes the arm limiter assembly 970 to transitionbetween the open and locked configurations dependent at least in part onthe elevation of the seat 922. FIG. 19 illustrates the wheelchair withthe seat and seat frame removed. FIGS. 22 and 23 are schematic planviews of the wheelchair 910 with the frame 14, drive wheels 32, frontwheels 46, and rear wheels 47 shown in dashed lines to better illustrateoperation of the linkage assembly 950. The wheelchair 10 can include atleast one, such as a pair of linkage assemblies 950 associated with thepair of limiter assemblies 970. Only one linkage assembly 950 and armlimiter assembly 970 will be described and illustrated, it beingunderstood that the companion assemblies on the other side of thewheelchair are the same.

The linkage assembly 950 includes an engagement member 962 coupled tothe scissor or lift bar 19, a first or upper elongate rod 966 a coupledto the engagement member 962, an extension plate 966 c, and a second orlower elongate rod 966 d that carries an engagement or contact head 94.The lower elongate rod 966 d is connected to the extension plate 966 cand terminates at the contact head 964. As illustrated, the upper andlower elongate rods 696 a and 966 d are substantially parallel to andextend substantially along a forward-rearward direction F-R. The linkageassembly 950 also includes track 966 b (shown FIG. 3) attached to, orshaped within, frame 14 that receives elongate rod 966 a. Upper rod 966a is slidable within the track 966 b. As the lift mechanism 18 raisesthe seat, the lower end 191 of the scissor bar 19 moves in the rearwarddirection R toward the fixed end 17 l of the scissor bar 17 so that theengagement member 62 is actuated to urge upper rod 966 a rearward alongthe track 966 b. The extension plate 966 c pulls the lower elongate rod966 d in the rearward direction R pulling the contact head 964 out ofengagement with the arm limiter assembly 970 (see FIG. 21).

Comparing FIG. 19 to FIG. 20, and FIG. 22 to FIG. 21, it is seen thatactuation of the lift mechanism into the raised position causes rearwardmovement of the linkage assembly 950 so that the contact head 964 is nolonger engaged with and forcing the top leg 975 of arm limiter assembly970 in the first direction C1. Disengagement between contact head 964and crank leg 975 permits the arm limiter assembly 970 to rotate indirection B2 (FIG. 19) about pivot axis P2 into the locked configurationthrough the action of spring 978. Conversely, as the seat is lowered(FIGS. 19 and 22), the lower end 191 of the scissor bar 19 is movedalong the frame 14 in the forward direction F, causing the engagementmember 962, the first elongate rod 966 a, the extension 966 c, secondelongate rod 966 d and contact head 964 to move in the forward directionF, such that the contact head 964 abuts the arm limiter assembly 970.

Accordingly, the linkage assembly 950 operatively connects the liftmechanism 18 to the arm limiter assembly 970 such that as the liftmechanism moves the seat 922 between the lowered position and the raisedposition, the arm limiter assembly 970 transitions between the openconfiguration and locking configuration, respectively. Morespecifically, as noted above the arm limiter assembly 970 is biased intothe locked or engaged configuration (FIG. 19) when the seat is raised.When the lift mechanism 18 moves the seat 922 from the raised positionto the lower position, the contact head 964 abuts the arm limiterassembly 790 causing it to transition into the open configuration (seeFIG. 19). When the seat is moved from the lowered position to the raisedposition, the contact head 964 withdraws from contact with the armlimiter assembly 970 such that the arm limiter assembly 970 is permittedto transition back into the locked configuration (FIG. 20), by theretracting action of resilient member 978. FIGS. 19-22 illustrate justone embodiment of the linkage assembly 950 and interaction with armlimiter assembly 970. Any linkage assembly, particularly one that isactuated by the lifting mechanism and, in turn, actuates an arm limiterbased on the lift position, can be used.

FIGS. 24-28 illustrate the arm limiter assembly 970 in variousconfigurations: In the open configuration 71 o (FIG. 24), the lockingconfiguration 71 c (FIG. 25), a locked and engaged configuration 71 e,and a blocked configuration (FIGS. 27 and 27) whereby the arm member 942prevents transition of the arm limiter assembly 970 from the openconfiguration into the locking configuration.

Referring first to FIG. 24, during normal operation and when the seat922 is in the lowered position, the arm limiter assembly 970 is in theopen configuration. Because the seat is lowered, the linkage assembly950 moves the contact head 964 into engagement with leg 975 of the armlimiter assembly 970. Because the lift mechanism urges the contact head964 forward, the contact head 964 advances the leg 975 and overcomes thebiasing force of the first resilient member 978 between frame 14 andcrank 974. As noted above, the second resilient member 80 biases theelongate lever 972 toward the leg 976 in rotational direction C1(clockwise when viewing FIG. 24) so that stop 982 abuts lower end ofcrank 974. Because the first resilient member 978 is generally stiffer(or has a higher spring constant) than the second resilient member 80,both the crank 974 and the elongate lever 972 rotate about pivot axis P2along direction C1 into the open configuration as illustrated in FIG.24. In the open configuration, the anti-tip arm member 942 is rotatablethrough its greater range of motion. The arm 942 can pivot upwards untillimited by some structure of the wheelchair or possibly element 176 ofthe elongate lever 972. As such, the wheelchair 910 is freely operableto traverse an obstacle O or begin a descent along the surface G.

Turning to FIGS. 25 and 26, when wheelchair 10 is operated in anelevated mode and the seat 922 is in the raised position, the contacthead 964 of linkage assembly 950 is out of engagement with leg 975 (orcrank 974) of the arm limiter assembly 970. The biasing force applied byfirst resilient member 978 to crank 974 biases the arm limiter assembly970 into the locking configuration. Because the elongate lever 972 haspivoted with crank 974 about pivot P2 into the locking configuration,the distal surface 179 d (Figure) of translating member 176 of the armlimiter assembly 970 is proximate the stop member 944 of the surface ofthe anti-tip arm 942, thus allowing relatively less upward rotationalmovement of the anti-tip arm 942 compared to when the arm limiter is theopen configuration as described above. Accordingly, as the seat 922 iselevated into the raised position, the forward arm member 942 will havea limited range of rotation such that the wheelchair 10 is not operableto ascend an obstacle, such as a standard size curb along ground surfaceG. If the chair ascends or slight obstacle as shown in FIG. 26, the stopmember 944 abuts end 176 of arm limiter assembly 970. The wheelchair 10may require operational transition into the standard mode when the seat922 is lowered before the full range of motion to the arm assembly 938is restored and the obstacle can be safely traversed. When seat 922 ismoved into lowered position (FIG. 24), the arm limiter assembly 970 istransitioned back into the open configuration due to the contact head964 of linkage assembly 950 abutting the crank 974 and advancing thecrank leg 975 and overcoming the biasing force of first resilient member978 as noted above. The greater range of motion of the arm member 942 isthereby restored when the seat is in the lowered position.

The blocking configuration 71 o shown in FIGS. 27 and 28 is anotherstability feature of the wheelchair 910 of the present disclosure andwill now be explained. When the wheelchair 910 is operating in normalmode with the seat lowered, there may be times when one or both anti-tiparms members 942 are raised relative to their first position 40A, suchas when the wheels 46 are encountering a raised obstacle or are on anincline. Under such circumstances, the wheelchair 10 may be disabledfrom restricting the range of motion of the anti-tip arms 942, even ifthe seat is being raised. If front wheel 46 is on uneven ground Grelative to the drive wheels 32, the arm member 942 moves in rotationaldirection C2 into position 40B that is different from the first position40A. For example, in position 40B as illustrated in FIG. 27, front armmember 942 has been rotated upward to a point where the pivot of thewheel 46 defines a line I2 with the pivot P1 of the anti-tip arm. Lowerdashed line I1 indicates the relative position of the line between thesepoints—first position 40A—when the wheelchair 10 is on flat, levelground as described above. (See, for example, FIG. 24). The angle α2depicted in FIGS. 27 and 28 is the rotational difference of the wheel 46from its first position 40A. As can be seen in FIGS. 27 and 28, when thearm member 942 is pivoted upward from its first position, the rearsurface 44 r of the stop member 944 is positioned to engage lateralsurface 179 f (FIG. 7) of translating member 176 before preventing theelongate lever 972 and thus the arm limiter assembly 970 fromtransitioning completely into the locking configuration. FIGS. 27 and 28depicts one way to prevent the arm limiter assembly 970 fromtransitioning into the locking configuration according to an embodimentof the present invention. Other mechanically based variations, such asother interfering structure associated with the anti-tip arm and/or thelimiter, are possible. Sensor-controlled lock actuators, such as onecontrolled by an inclination sensor, are also possible. Whateverinhibiting means are chosen, when the position of the arm member 942 issubstantially rotationally different from its first position 40A to adegree that could engender a tipping or instability risk, the armlimiter assembly 970 can be prevented from transitioning into lockingconfiguration until the wheelchair 910 operating on flat, level ground.

Preferably, according to some embodiments, the arm limiter assembly isprevented from transitioning to the locking configuration when theanti-tip arm member or wheel 46 is rotationally different from its firstposition by a predetermined angle. The predetermined angle can be about4 degrees or more, at least 4 degrees or more, equal to 4 degrees. Forexample, the second position 40 b illustrated in FIG. 4C can be when thearm member 42 is rotationally different from the first position 40A by apredetermined angle. In some embodiments the predetermined angle is byat least six (6) degrees, at least (5) degrees, at least four (4)degrees, at least three (3) degrees or at least two (2) degrees. Inother embodiments, the predetermined angle is at least about six (6)degrees, at least about five (5) degrees, at least about four (4)degrees, at least about three (3) degrees or at least about two (2)degrees. As illustrated, the angle α2 between the first line I1 and thefixed line I2 is about 4 degrees.

In another embodiment, the elongate lever 972 is constructed so that itslength is adjustable, such as by constructing it of two interlocking andtelescoping pieces. In this manner, the longitudinal extent of the lever972 and final longitudinal positioning of its translating member 176 canbe adjusted so that the spatial constraint on the transitioning of thearm limiter is likewise adjustable.

FIG. 29 depicts a circumstance of operation that occurs when 1) the seatis raised, 2) the arm limiter assembly 970 is in the second, lockedconfiguration, and 3) the anti-tip arm 942 encounters a small obstacle(not shown) and is pushed upward, into actual or near contact (asillustrated) with the arm limiter assembly 970. If the occupant attemptsto lower the seat in that circumstance, the contact head 964 of linkageassembly 950 would come back into contact with the leg 975 of the crank974 and apply a force that exceeds the biasing forces of both resilientmembers 978 and 980. The result is that the crank 974 rotates relativeto the elongate lever 972 in rotational direction C1 even though thelever 972 is spatially constrained to stay in the locked position whilethe anti-tip arm is raised for the obstacle O. This prevents the armlimiter assembly and lift mechanism from locking out during operation.As soon as the obstacle is traversed and the anti-tip arm lowers,resilient member 80 pulls crank 974 toward the stop 982 to the firstposition as shown in FIG. 24.

FIGS. 30-39 illustrates an alternative embodiment of the poweredwheelchair 1310. The powered wheelchair 1310 is similar to the poweredwheelchair 10 and 910 described above and illustrated in FIGS. 1-29. Thedescription below regarding wheelchair 1310 will use similar referencesigns to identify elements common to wheelchairs 10 and/or 910 andwheelchair 1310. As illustrated, the powered wheel chair 1310 includesan alternative embodiment of the linkage assembly. The poweredwheelchair 1310 of FIG. 30, like the previous embodiments, includes aframe 14, drive wheels 32 coupled to the frame 14, a pair of forward armassemblies 938 with front wheels 46, a pair of rear arm assemblies 948with rear wheels 47, and an arm limiter assembly 970. The poweredwheelchair 1310 also includes control system and sensors 96 a, 96 b, 96c, similar to the wheelchair 10 described above. In accordance with thisalternative embodiment, the wheelchair 1310 includes alternative liftmechanism 1318 mounted to the frame 14 and configured to move the seat1322 between the lowered and raised positions. An alternative linkageassembly 1340 operatively connects the lift mechanism 118 to the armlimiter assembly 970 such that as the seat 1322 is moved between thelowered position and the raised position, the arm limiter assembly 970transitions between the open configuration and locking configuration.

FIGS. 32A and 32B illustrate partial views of the wheelchair showing thelift mechanism 1318 and linkage assembly 1340. The lift mechanism 1318includes lift arms 17 and 19 and a lift actuator 1320. The lift actuator1320 is operatively connected to the lift arm 19 (or 17) and the linkageassembly 1340 so that changes in seat position relative to the frame 14,e.g., as the seat 1322 is raised or lowered relative to frame 14 along avertical direction V, causes actuation of the linkage assembly 1340 asfurther detailed below. As shown in FIGS. 32A and 32B, the actuator 1320includes a strut 1353, a pivot lever 1357, and contact arm 1371. One endof the strut 1353 is pivotably coupled to the pivot lever 1357. Thepivot lever 1357 includes a lever pin (not shown) that extends into anelongate slot (not shown) defined by a curved plate 1358. The curvedplate 1358 is coupled to the lift arm 19. As lift mechanism 1318 raisesthe seat 1322 from the lowered position (FIG. 32B) to a raised position(FIG. 32A) the strut 1353 causes the lever 1357 to pivot upwardly. Thelever pin rides along slot in the curved plate 1358 to aid in initiatinga lift sequence of the seat 1322. As lift mechanism lowers the seat 1322from the raised position (FIG. 32A) to the lowered position (FIG. 32B),the strut 1353 causes the lever 1357 to pivot toward the frame 14. Asthe lever 1357 pivots, the contact arm 1371 pivots into engagement withthe linkage assembly 1340.

FIGS. 34A-34B illustrate a schematic of the wheelchair 1310 with theseat and seat frame removed and the frame 14, drive wheels 32, andforward wheels 46 and rear wheels 47 shown in dashed lines to betterillustrate operation of the linkage assembly 340. The linkage assembly340 is configured so that when the seat 22 is lowered as illustrated inFIGS. 32A and 32B (seat 1322 not shown in FIG. 32A), the arm limiterassembly 970 is in the first or open configuration. When the seat 1322is raised as illustrated in FIGS. 34C and 34D, the arm limiter assembly970 transitions into the second or locked configuration.

Referring to FIGS. 33-34D, the linkage assembly 340 includes a linkageactuator 1350, sometimes referred to as bridge or bridge assembly, and acable assembly 1352. The linkage actuator 1350 is supported by the frame14 and positioned between left and right scissor assemblies (notnumbered) of the lift mechanism 1318. The linkage actuator 1350 iscoupled to the lift mechanism 318 and the cable assembly 1352. The cableassembly 1352 is in turn coupled to the arm limiter assembly 970, inparticular the first leg 975 of the arm limiter assembly 970.

As shown in FIG. 33, the linkage actuator 1350 includes a support member1351, a first rod 1366 having an end 1355 moveably coupled to thesupport member 1351 (see FIG. 34A, a second rod 1368 having an end 1369that is fixed to the support member 1351 via pivot connector (notnumbered), and a biasing member 1360 coupled between the support member1351 and first rod 1366. The linkage actuator 1350 also includes acoupling head 1362 slidable along the support member 1351 and fixed tothe first rod end 1355 via connector pin 1359 (FIG. 34A). The first andsecond rods 1366 and 1368 are pivotably coupled to each other via pivotconnector 1367. The support member 1351 is an elongate track that issized to at least partially receive the first and second rods 1366 and1368. The support member 1351 further has slot 1363 extendingtherethrough along a direction perpendicular the elongate direction ofthe support member 1351. The first coupling head 1362 is coupled to themovable end 1355 of the first rod 1366 via a connector pin 1359. Theconnecter pin 1359 extends through the slot 1363 of the support member1351 and a slot (not numbered) of the first rod 1366.

The cable assembly 1352 includes a sleeve, a cable member 1354positioned at least partially within the sleeve, and cable supports 1365a (not shown) and 1365 b. The cable member 1354 includes first andsecond opposed ends 1356 and 1358 fixed to first and second couplingheads 1362 and 1364. The coupling head 1364 is fixed to the leg 975. Thesleeve is flexible and can bend as needed to extend from the actuator1350 to the arm limiter assembly 970. Cable support 1365 a is attachedto the plate 1361 to position the cable 1354 in-line with the couplinghead 1362. Cable support 1365 b fixes the sleeve end to frame 14 forwardof the arm limiter leg 975. Only one cable assembly 352 is shown inFIGS. 34A and 34B, the other cable assembly for the other side of thechair 1310 is similar. The linkage actuator 1350 is coupled to the firstcoupling head 1362 and one end 1356 of the cable member 1354. The secondcoupling head 1364 is fixed to the arm limiter assembly 970, forinstance to the first leg 975 of the crank 974 (crank 974 not in FIGS.32A-34D), via the second coupling head 1364.

The biasing member 1360, which can be a spring, is coupled to supportmember 1351 and the first rod 1366 and is configured to bias the end1355 (FIG. 34A) of the first rod 1366 toward the fixed end 1369 of thesecond rod 1368 and urge the pivot point 1367 upwardly. Because thefirst coupling head 1362 is coupled to the end 1355 of the rod 1366,when the seat 22 is raised the first coupling head 1362 is biased into aretracted position and the cable member 354 slides through the sleeve.Thus, the pivot point 1367 moves from a raised position relative to theframe 14 to the lowered position relative to frame 14 as lift mechanism18 moves the seat 1322 from the raised position to the lowered position.

When the seat is lowered from a raised position to a lowered position,the contact leg 1371 abuts the second rod 1368, urging the first andsecond rods 1366 and 1368 into a linear, elongated configuration,advancing the moveable end 1355 of the first rod 1366 along supportmember 1351, as shown in FIG. 34B. Advancement of the end 1355 advancesthe first coupling head 1362 into a position, which pulls the cablemember 1354 and the leg 975 of arm limiter 970 into the openconfiguration. Movement of the seat 22 to the raised position causes thefirst coupling head 1362 to move into the retracted position (FIG. 34D).The biasing member 360 also pulls the first coupling head 362 into theretracted position, which allows the arm limiter assembly 970, by actionof the biasing member 978 (FIG. 23), to transition from the first oropen configuration into the second or locked configuration, again in amanner similar to depicted in the earlier embodiment. To reduce stresson the linkage assembly 1340, in some embodiments, when the actuator1350 is tied to the seat position, the biasing member 1360 (along withbiasing member 978) is configured to urge the arm limiter 970 toward thelocking configuration position when the actuator 350 is in a firstcondition, e.g. when the coupling head 1362 is in a retracted position.The actuator 1350 is configured to urge the limiter 970 toward thedisengaged position when the actuator 1350 is in a second condition,e.g. when the coupling head 1362 is in an extended position.

FIGS. 35-39 depict operation the linkage assembly 1340 and arm limiterassembly 970 in various configurations: The open configuration 71 o(FIG. 35), the locking configuration 71 c (FIG. 36), a locked andengaged configuration 71 e (FIG. 37), and a blocked configuration (FIG.38) whereby the arm member 942 prevents transition of the arm limiterassembly 970 from the open configuration into the locking configuration.

Referring first to FIG. 35, during normal operation and when the seat1322 is in the lowered position, the arm limiter assembly 970 is in theopen configuration 71 o. As shown in FIG. 36, movement of the seat 22 tothe raised position causes the first coupling head 1362 to move into theretracted position in a forward direction F, which gives some slack thecable member 1352 so that that spring 978 and 980 rotates the crank 974and elongate member 972 into the locking configuration 71 c. In FIG. 37,when the wheel chair 1310 approaches a slight obstacle, the spatiallocation of the wheel 46 and wheel axis A1 shifts and the stop 944 abutsthe limiter assembly 970 in an engaged configuration 71 e. As shown inFIG. 38 illustrates the blocking configuration 71 o, where the spatiallocation of arm member 942 and wheel axis A1 is rotationally differentthan the first position 40A (FIG. 35) and blocks further progression ofthe arm limiter 970 into the locking configuration. Finally, FIG. 39illustrates circumstance when 1) the seat is raised, 2) the arm limiterassembly 970 is in the second, locked configuration, and 3) the anti-tiparm 942 encounters a obstacle (not shown) and is pushed upward. If theoccupant attempts to lower the seat, the linkage actuator 1350 pulls thecrank 74 in a forward rotation direction. This can apply a force tocrank 974 exceeds the biasing forces of both resilient members 978 and980. The crank 974 then rotates relative to the elongate lever 972 inrotational direction C1 (not shown) even though the lever 972 isspatially constrained to stay in the locked position while the armmember 942 and wheel axis A1 is raised for the obstacle O.

FIGS. 40-43 depict another embodiment of the powered wheelchair of theinvention. This embodiment, generally designated 1410 is configuredsimilar to the powered wheelchairs 10, 910, and 1310 described above.For instance, the powered wheelchair 1410 includes a frame 14, drivewheels 32 coupled to the frame 14, a pair of forward arm assemblies 938with a front wheels 46, a pair of rear arm assemblies 948 with rearwheels 47, a lift mechanism 18 mounted to the frame 14 and configured tomove the seat 22 between the lowered and raised positions, and a linkageassembly 950 (FIGS. 21 and 22) or the alternative linkage assembly 1340(FIGS. 34A-34D). The powered wheelchair 410 includes a control systemand sensors, similar to any on the wheelchairs 10, 110, 210, 310 . . .910, and 1310 described above. Accordingly, the description belowregarding wheelchair 1410 will use similar reference signs to identifyelements common to wheelchair 10 and wheelchair 1410. In accordance withthe alternative embodiment, the wheelchair 1410 includes an arm limiterassembly 1470 constructed according to an alternative embodiment.

Turning to FIG. 40, the arm limiter assembly 1470 is configured totransition between the open configuration and the locking configurationso as to limit the range of rotation or motion of the arm member 942 asdescribed above with respect to arm limiter assembly 970. Arm limiterassembly 1470 includes a crank 1474 and an elongate lever 1472, both ofwhich are rotatably coupled to frame 14 at the rotation point P2. Thecrank 1474 includes first and second elongate legs 1475 and 1476 fixedto each other. The crank 1474 is rotatably coupled to the frame 14 atthe rotation point (not shown) proximate where the first and second legsaxes 61 a and 61 b intersect (61 a and 61 b not shown but definedsimilar to axis shown in FIG. 7). The first leg 1475 has a free end (notnumbered) opposite to the rotation point along the axis 61 a. The firstleg 1475, for instance the free end, is configured to be engaged by theengagement head 64 of the linkage assembly 950, or head 1364 of thealternative, cable-based linkage system, as will be further detailedbelow. The second leg 974 includes a free end (not numbered) opposite tothe rotation point along the axis 61 b, similar to the arm limiterassembly 970 shown in FIG. 7. The first resilient member 1478 can be aspring coupled to frame 14 and the first leg 475.

The elongate lever 1472 is configured to selectively contact the stopmember 944 of the arm member 1442, similar to the elongate lever 1472described above. In accordance with the embodiment illustrated in FIGS.19-21, a leg 1479 is fixed to the elongate lever 1472 proximate thepivot P2. The second resilient member 1480 is connected to the leg 1479of the lever 1472, in essence creating a second crank. The first crank1474 and the crank of legs 1479 and 1472 are rotatably mounted on to theframe at P2 and are rotatable relative to each other. Second resilientmember 1480 here, as in the earlier embodiment, places a second biasingforce on lever 1479 (and 1472) urging the lever 1472 in the rotationdirection C1 about pivot P2. In all other respects, the arm limiterassembly 970 of the first embodiment and the arm limiter assembly 1470here are similar. For example, the second biasing force applied by theresilient member 1480 is greater than the first biasing force applied byresilient member 1478. The arm limiter assembly 1470 can include amechanical stop, such as the stop 982 in the earlier embodiment, torestrict the extent of relative rotation of the levers 1479 and 1472towards the crank 1474 in direction C1.

FIG. 40 illustrates the arm limiter assembly 1470 in the openconfiguration, FIG. 41 in the locking configuration, and FIG. 42 in theblocked configuration, whereby the arm member 942 is raised and the stopmember prevents the arm limiter 1470 from transitioning from the openconfiguration into the locking configuration. Referring first to FIG.18, during normal operation and when the seat 1422 is in the loweredposition, the arm limiter assembly 470 is in the open configuration.Because the seat is lowered, the linkage assembly 950 (or 340) moves thecontact head 964 or 364 to a point that urges first leg 1475 and the armlimiter assembly into the open configuration. The second resilientmember 1480 biases the elongate lever 1472 toward the crank 1474 in thefirst rotational direction C1 (clockwise when viewing FIG. 40) andagainst the stop 982 (not shown). As noted above, in the openconfiguration, the arm member 942 is rotatable through its greater rangeof motion, such that the wheelchair 10 is operable normally to traversean obstacle or navigate a descent along the surface G.

Turning to FIG. 41, when wheelchair 1410 is operated in an elevated modewith the seat raised, linkage assembly 950, 340 withdraws contact head964 or 364 from engagement with leg 1475 the arm limiter assembly 1470,thereby allowing the arm limiter assembly 1470 to transition into thelocked configuration from the bias exerted by spring member 978. Becausethe elongate lever 1472 has pivoted into the locking configuration, thetranslating member 1488 is positioned to abut the top surface of thestop member 944, thus limiting upward rotational movement of the armmember 942 to its second range of motion. Accordingly, when the seat1422 is elevated into the raised position, the forward arm member 942will have a limited range of rotation such that the wheelchair 410 isoperable to ascend only relatively smaller obstacles than when in theconfiguration of FIG. 18. When seat 22 is moved into lowered position,the arm limiter assembly 1470 is transitioned back into the openconfiguration such that range of motion of the arm member 942 isrestored.

FIGS. 42 and 43 depicts the analogous circumstance for arm limiter 1470as was described with respect to FIG. 23 for arm limiter 970. When thearm position is substantially rotationally different from its firstposition, to a degree that could engender a tipping or instability risk,the arm limiter can be prevented from transitioning into its secondposition until the chair is returning to more level, even ground.Accordingly, if front wheel 46 is on uneven ground surface G relative tothe drive wheels 32, the arm member 942 will have been pivoted in anupward rotational direction C2 into position 40B, which is rotationallydifferent from the first position 40A. When the arm is so pivoted upwardfrom its first position, the rear surface 944 r of the stop member 944on the arm member 942 would be contacted by the edge of translatingmember 1488 (FIG. 43) before it can rotate in direction C2 to itssecond, locking configuration. The arm limiter is prevented fromtransitioning to its second position when the anti-tip arm isrotationally different from its first position by a predetermined angle.As noted above, the predetermined angle can be about 4 degrees or more,at least 4 degrees or more, equal to 4 degrees. In some embodiments thepredetermined angle is at least six (6) degrees, at least (5) degrees,at least four (4) degrees, at least three (3) degrees or at least two(2) degrees. In other embodiments, the predetermined angle is at leastabout six (6) degrees, at least about five (5) degrees, at least aboutfour (4) degrees, at least about three (3) degrees or at least about two(2) degrees.

FIG. 43 depicts a circumstance of operation that occurs when 1) the seatis raised, 2) the arm limiter assembly 1470 is in the second, lockedconfiguration, and 3) the anti-tip arm 942 encounters a small obstacle(not shown), and so is pushed upward, into actual or near contact withthe arm limiter assembly 1470. If the occupant attempts to lower theseat in that circumstance, the linkage contact head 964 (or 1364) wouldcome back into contact with leg 1475 of crank 1474 and apply a forcethat exceeds the biasing forces of both resilient members 978 and 980.The result is that the crank 474 rotates relative to the elongate lever1472 in rotational direction C1, even though the lever 1472 is spatiallyconstrained while the anti-tip arm is raised for the obstacle to stay inthe locked position. This prevents the arm limiter assembly and liftmechanism from locking out during operation. As soon as the obstacle istraversed and the anti-tip arm naturally lowers, resilient member 80pulls lever 1479 to rotate assembly 1470 in direction C1 back as far asstop 982 (not shown), to the first position of FIG. 18.

The safety features described in present disclosure are not limited tothe powered wheelchair configurations specifically disclosed andillustrated in the accompanying drawings. The wheelchair as describedherein can include any one of the arm limiter assemblies 60, 160, 260,360, 460, 560, 660, 760, 860, 970, or 1470 described herein, a forwardarm assembly moveably, i.e. rotatably and/or translatably, coupled tothe frame 14, and a rearward arm assembly moveable coupled to the frame14. More specifically, such a wheelchair includes a forward arm member42 and a rearward arm member 49 (see FIG. 2A) that are both moveablerelative to the frame such that the front wheel 46 and rear wheel 49,respectively, are moveable relative to the frame 14 away (upwardly ordownwardly) from their respective first or rest positions. Movement ofthe wheels 46 and 49 away from the first positions are dependent on thefeatures on the ground G that wheelchair is traversing. In certainembodiments, the forward arm member 42 and the rearward arm members 49can be linked, directly or indirectly, such that movement of one armmember causes movement of the other arm member. In such an embodiment,arm limiter assemblies 60, 160, 260, 360, 560, 660, 760, 860, 970, or1470 as described herein selectively permit or prevent movement of 1)the forward arm member 42, 2) the rearward arm member 49, or 3) both theforward and rearward arm member 49 upwardly or downwardly with respectto the first position of each respective wheel 46 and 47. Morespecifically, any one of arm limiter assemblies 60, 160, 260, 360, 560,660, 760, 860, 970, or 1470 can be positioned toward the front 14 f ofthe frame 14 to selectively inhibit movement of the front arm assembly38. And because the forward arm member 42 is linked to the rear armmember 49, when the front arm member 42 has a limited range of motiondue to engagement with the arm limiter assembly, the rear arm member 49has a limited range of motion as well. The reverse is contemplated—thatthe arm limiter assembly engaged with rear arm member 47 and limitingits range of motion also limits the range of motion of the forward armmember 42. In addition, if one of the front arm member 42 or the reararm member 49 is moved out of its first or rest position prior to thearm limiter assembly transitioning into the locking configuration, stopmembers along each arm member 42 or 49 inhibits the arm limiter assemblyfrom transitioning into the locked configuration. When the wheelchairreturns to flat, level ground, the front and rear arm members 42 and 49return to the first position and the arm limiter assembly transitionsinto the locking configuration.

Various embodiments of wheelchairs have been described. It should beappreciated that the features and elements from one wheelchair can becombined with features and elements of another wheelchair. For instance,any wheelchair 10, 110, 210, 310, 410, 510, 610, 710, 810, 910, 1310,and 1410 may include any one of the arm limiter assemblies 60, 160, 260,360, 460, 560, 660, 760, 860, 970, or 1470. Further, any components foreach arm limiter assemblies 60, 160, 260, 360, 460, 560, 660, 760, 860,970, or 1470 may be combined with other components from each arm limiterassembly 60, 160, 260, 360, 460, 560, 660, 760, 860, 970, or 1470 asneeded. Further linkage assemblies 50, 950, and 1340 may be incorporatedinto any embodiment of the wheelchairs 10, 110, 210, 310, 410, 510, 610,710, 810, 910, 1310, and 1410 described here.

While the foregoing description and drawings represent the variousexemplary embodiments of the present disclosure, it will be understoodthat various additions, modifications, combinations and/or substitutionsmay be made therein without departing from the spirit and scope of theinvention as defined in the accompanying claims. In particular, it willbe clear to those skilled in the art that the invention may be embodiedin other specific forms, structures, arrangements, proportions, and withother elements, materials, and components, without departing from thespirit or essential characteristics thereof. One skilled in the art willappreciate that the invention may be used with many modifications ofstructure, arrangement, proportions, materials, and components, whichare adapted to specific environments and operative requirements withoutdeparting from the principles of the invention. In addition, featuresdescribed herein may be used singularly or in combination with otherfeatures. For example, features described in connection with onecomponent or embodiment may be used and/or interchanged with featuresdescribed in another component or embodiment. The presently disclosedembodiments are therefore to be considered in all respects asillustrative and not restrictive, the scope of the invention beingindicated by the appended claims, and not limited to the foregoingdescription.

What is claimed:
 1. A powered wheelchair comprising: a frame; a liftmechanism supported by the frame; a seat supported by the liftmechanism, the lift mechanism configured to move the seat between alowered position and a raised position; a pair of drive wheels; at leastone drive coupled to the frame and configured to apply a torque to atleast one of the drive wheels; an arm assembly including an arm memberthat is pivotably coupled to the frame and a wheel coupled to the armmember, the arm member configured to be in a first position relative tothe frame when the wheelchair is operating on flat ground and to berotatable from that first position; an arm limiter supported by theframe and configured to inhibit motion of the arm member, the armlimiter having a first configuration in which the arm member isrotatable from the first position through a first range of rotation, anda second configuration in which the arm member is rotatable from thefirst position only through a second range of rotation that is smallerthan the first range of rotation; and a linkage assembly thatoperatively connects the lift mechanism to the arm limiter such that asthe seat is moved between the lowered and raised positions, the linkageassembly causes the arm limiter to transition between the first andsecond configurations, wherein the arm limiter is prevented fromtransitioning into the second configuration when the arm member isrotationally different from the first position relative to the frame bymore than 4 degrees.